Variable Curvature Modeling Method of Soft Continuum Robots with Constraints
Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Liu, Yuwang [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s) 2023 |
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| Übergeordnetes Werk: |
Enthalten in: Chinese Journal of Mechanical Engineering - Chinese Mechanical Engineering Society, 2012, 36(2023), 1 vom: 08. Dez. |
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| Übergeordnetes Werk: |
volume:36 ; year:2023 ; number:1 ; day:08 ; month:12 |
| Links: |
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| DOI / URN: |
10.1186/s10033-023-00967-6 |
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SPR054007658 |
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| 520 | |a Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. | ||
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10.1186/s10033-023-00967-6 doi (DE-627)SPR054007658 (SPR)s10033-023-00967-6-e DE-627 ger DE-627 rakwb eng Liu, Yuwang verfasserin aut Variable Curvature Modeling Method of Soft Continuum Robots with Constraints 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. Continuum robots (dpeaa)DE-He213 Variable curvature modeling (dpeaa)DE-He213 Boundary conditions (dpeaa)DE-He213 Nonlinear mechanics (dpeaa)DE-He213 Shi, Wenping aut Chen, Peng aut Cheng, Liang aut Ding, Qing aut Deng, Zhaoyan aut Enthalten in Chinese Journal of Mechanical Engineering Chinese Mechanical Engineering Society, 2012 36(2023), 1 vom: 08. Dez. (DE-627)SPR008124000 nnns volume:36 year:2023 number:1 day:08 month:12 https://dx.doi.org/10.1186/s10033-023-00967-6 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER AR 36 2023 1 08 12 |
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10.1186/s10033-023-00967-6 doi (DE-627)SPR054007658 (SPR)s10033-023-00967-6-e DE-627 ger DE-627 rakwb eng Liu, Yuwang verfasserin aut Variable Curvature Modeling Method of Soft Continuum Robots with Constraints 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. Continuum robots (dpeaa)DE-He213 Variable curvature modeling (dpeaa)DE-He213 Boundary conditions (dpeaa)DE-He213 Nonlinear mechanics (dpeaa)DE-He213 Shi, Wenping aut Chen, Peng aut Cheng, Liang aut Ding, Qing aut Deng, Zhaoyan aut Enthalten in Chinese Journal of Mechanical Engineering Chinese Mechanical Engineering Society, 2012 36(2023), 1 vom: 08. Dez. (DE-627)SPR008124000 nnns volume:36 year:2023 number:1 day:08 month:12 https://dx.doi.org/10.1186/s10033-023-00967-6 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER AR 36 2023 1 08 12 |
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10.1186/s10033-023-00967-6 doi (DE-627)SPR054007658 (SPR)s10033-023-00967-6-e DE-627 ger DE-627 rakwb eng Liu, Yuwang verfasserin aut Variable Curvature Modeling Method of Soft Continuum Robots with Constraints 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. Continuum robots (dpeaa)DE-He213 Variable curvature modeling (dpeaa)DE-He213 Boundary conditions (dpeaa)DE-He213 Nonlinear mechanics (dpeaa)DE-He213 Shi, Wenping aut Chen, Peng aut Cheng, Liang aut Ding, Qing aut Deng, Zhaoyan aut Enthalten in Chinese Journal of Mechanical Engineering Chinese Mechanical Engineering Society, 2012 36(2023), 1 vom: 08. Dez. (DE-627)SPR008124000 nnns volume:36 year:2023 number:1 day:08 month:12 https://dx.doi.org/10.1186/s10033-023-00967-6 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER AR 36 2023 1 08 12 |
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10.1186/s10033-023-00967-6 doi (DE-627)SPR054007658 (SPR)s10033-023-00967-6-e DE-627 ger DE-627 rakwb eng Liu, Yuwang verfasserin aut Variable Curvature Modeling Method of Soft Continuum Robots with Constraints 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. Continuum robots (dpeaa)DE-He213 Variable curvature modeling (dpeaa)DE-He213 Boundary conditions (dpeaa)DE-He213 Nonlinear mechanics (dpeaa)DE-He213 Shi, Wenping aut Chen, Peng aut Cheng, Liang aut Ding, Qing aut Deng, Zhaoyan aut Enthalten in Chinese Journal of Mechanical Engineering Chinese Mechanical Engineering Society, 2012 36(2023), 1 vom: 08. Dez. (DE-627)SPR008124000 nnns volume:36 year:2023 number:1 day:08 month:12 https://dx.doi.org/10.1186/s10033-023-00967-6 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER AR 36 2023 1 08 12 |
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10.1186/s10033-023-00967-6 doi (DE-627)SPR054007658 (SPR)s10033-023-00967-6-e DE-627 ger DE-627 rakwb eng Liu, Yuwang verfasserin aut Variable Curvature Modeling Method of Soft Continuum Robots with Constraints 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s) 2023 Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. Continuum robots (dpeaa)DE-He213 Variable curvature modeling (dpeaa)DE-He213 Boundary conditions (dpeaa)DE-He213 Nonlinear mechanics (dpeaa)DE-He213 Shi, Wenping aut Chen, Peng aut Cheng, Liang aut Ding, Qing aut Deng, Zhaoyan aut Enthalten in Chinese Journal of Mechanical Engineering Chinese Mechanical Engineering Society, 2012 36(2023), 1 vom: 08. Dez. (DE-627)SPR008124000 nnns volume:36 year:2023 number:1 day:08 month:12 https://dx.doi.org/10.1186/s10033-023-00967-6 kostenfrei Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER AR 36 2023 1 08 12 |
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Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. © The Author(s) 2023 |
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Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. © The Author(s) 2023 |
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Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots. © The Author(s) 2023 |
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<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">SPR054007658</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20231208064643.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">231208s2023 xx |||||o 00| ||eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1186/s10033-023-00967-6</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR054007658</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s10033-023-00967-6-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Liu, Yuwang</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Variable Curvature Modeling Method of Soft Continuum Robots with Constraints</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2023</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© The Author(s) 2023</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction. This compliance reduces the risk of damage to the manipulated object and its surroundings. However, continuum robots possess theoretically infinite degrees of freedom, and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints. Describing these complex deformations is the main challenge in modeling continuum robots. In this study, we investigated a novel variable curvature modeling method for continuum robots, considering external forces and positional constraints. The robot configuration curve is described using the developed mechanical model, and then the robot is fitted to the curve. A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model. The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load. This work was able to serve as a new perspective for the design analysis and motion control of continuum robots.</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Continuum robots</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Variable curvature modeling</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Boundary conditions</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Nonlinear mechanics</subfield><subfield code="7">(dpeaa)DE-He213</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Shi, Wenping</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Chen, Peng</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Cheng, Liang</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Ding, Qing</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Deng, Zhaoyan</subfield><subfield code="4">aut</subfield></datafield><datafield tag="773" ind1="0" ind2="8"><subfield code="i">Enthalten in</subfield><subfield code="t">Chinese Journal of Mechanical Engineering</subfield><subfield code="d">Chinese Mechanical Engineering Society, 2012</subfield><subfield code="g">36(2023), 1 vom: 08. Dez.</subfield><subfield code="w">(DE-627)SPR008124000</subfield><subfield code="7">nnns</subfield></datafield><datafield tag="773" ind1="1" ind2="8"><subfield code="g">volume:36</subfield><subfield code="g">year:2023</subfield><subfield code="g">number:1</subfield><subfield code="g">day:08</subfield><subfield code="g">month:12</subfield></datafield><datafield tag="856" ind1="4" ind2="0"><subfield code="u">https://dx.doi.org/10.1186/s10033-023-00967-6</subfield><subfield code="z">kostenfrei</subfield><subfield code="3">Volltext</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_USEFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">SYSFLAG_A</subfield></datafield><datafield tag="912" ind1=" " ind2=" "><subfield code="a">GBV_SPRINGER</subfield></datafield><datafield tag="951" ind1=" " ind2=" "><subfield code="a">AR</subfield></datafield><datafield tag="952" ind1=" " ind2=" "><subfield code="d">36</subfield><subfield code="j">2023</subfield><subfield code="e">1</subfield><subfield code="b">08</subfield><subfield code="c">12</subfield></datafield></record></collection>
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