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Development and analysis of a bio-inspired wire-driven variable stiffness double spring based tapered multi-section flexible robot
Industrial Robot ( IF 1.8 ) Pub Date : 2021-10-06 , DOI: 10.1108/ir-04-2021-0070
Alok Ranjan Sahoo 1 , Pavan Chakraborty 1
Affiliation  

Purpose

The purpose of this paper is to develop a tendon actuated variable stiffness double spring based continuously tapered multi-section flexible robot and study its capability to achieve the desired bending and compression for inspection in cluttered environments.

Design/methodology/approach

Spring-based continuum manipulators get compressed while actuated for bending. This property can be used for the advantage in cluttered environments if one is able to control both bending and compression. Here, this paper uses a mechanics based model to achieve the desired bending and compression. Moreover, this study tries to incorporate the tapered design to help in independent actuation of the distal sections with minimal effects on proximal sections. This study is also trying to incorporate the double spring based design to minimize the number of spacers in the robot body.

Findings

The model was able to produce desired curvature at the tip section with less than 4.62% error. The positioning error of the manipulator is nearly 3.5% which is at par with the state-of-the-art manipulators for search and rescue operations. It was also found that the use of double spring can effectively reduce the number of spacers required. It can be helpful in smooth robot to outer world interaction without any kink. From the experiments, it has been found that the error of the kinematic model decreases as one moves from high radius of curvature to low radius of curvature. Error is maximum when the radius of curvature is infinity.

Practical implications

The proposed manipulator can be used for search operations in cluttered environments such as collapsed buildings and maintenance of heavy machineries in industries.

Originality/value

The novelty of this paper lies in the design and the proposed kinematics for a spring-based continuously tapered multi-section manipulator.



中文翻译:

仿生线驱动变刚度双弹簧锥形多截面柔性机器人的研制与分析

目的

本文的目的是开发一种基于腱驱动变刚度双弹簧的连续锥形多截面柔性机器人,并研究其在杂乱环境中实现所需弯曲和压缩的能力。

设计/方法/方法

基于弹簧的连续体操纵器在驱动弯曲时会被压缩。如果能够同时控制弯曲和压缩,则可以在杂乱的环境中使用此属性。在这里,本文使用基于力学的模型来实现所需的弯曲和压缩。此外,本研究试图结合锥形设计,以帮助远端部分的独立驱动,而对近端部分的影响最小。这项研究还试图结合基于双弹簧的设计,以最大限度地减少机器人体内的垫片数量。

发现

该模型能够在尖端部分产生所需的曲率,误差小于 4.62%。该机械手的定位误差接近3.5%,与最先进的搜救机械手相当。还发现使用双弹簧可以有效地减少所需的垫片数量。它有助于平滑机器人与外部世界的交互,没有任何扭结。从实验中发现,运动学模型的误差随着从高曲率半径向低曲率半径移动而减小。当曲率半径为无穷大时,误差最大。

实际影响

所提出的机械手可用于杂乱环境中的搜索操作,例如倒塌的建筑物和工业重型机械的维护。

原创性/价值

本文的新颖之处在于基于弹簧的连续锥形多节机械手的设计和提出的运动学。

更新日期:2021-10-06
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