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题名:
Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions
作者: Gao AZ(高安柱); Ryan J. Murphy; Liu H(刘浩); Iulian I. Iordachita; Mehran Armand
作者部门: 机器人学研究室
通讯作者: Gao AZ(高安柱)
关键词: Dexterous continuum manipulators ; compliant joints ; partition approach ; Cosserat rod theory
刊名: IEEE Transactions on Mechatronics
ISSN号: 1083-4435
出版日期: 2017
卷号: 22, 期号:1, 页码:465-475
收录类别: SCI ; EI
EI收录号: 20170803380534
WOS记录号: WOS:000395750100047
产权排序: 1
项目资助者: National Natural Science Foundation of China under Grant 61473281 and in part by China Scholarship Council under Grant 201408210100.
摘要: Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.
语种: 英语
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
关键词[WOS]: OSTEOLYSIS ; SURGERY ; DESIGN ; ROBOTS
研究领域[WOS]: Automation & Control Systems ; Engineering
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内容类型: 期刊论文
URI标识: http://210.72.131.170/handle/173321/19722
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese, Academy of Sciences, Beijing 100049, China
3.Johns Hopkins University Applied Physics Laboratory, Laurel, MD, 20723-6099, United States
4.Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, United States

Recommended Citation:
Gao AZ,Ryan J. Murphy,Liu H,et al. Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions[J]. IEEE Transactions on Mechatronics,2017,22(1):465-475.
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文件名: Mechanical model of dexterous continuum manipulators with compliant joints and tendon external force interactions.pdf
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