TY - GEN
T1 - A Numerical Method for the Compliance Analysis of Continuum Robots
AU - Dai, Yicheng
AU - Wang, Sheng
AU - Wang, Xin
AU - Yuan, Han
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Continuum robots are characterized by their high compliance and dexterity. However, these features also lead to a reduction in accuracy. While many literature on continuum robots address aspects such as design, kinematics, and statics, there are few in-depth studies on the compliance of these robots. This paper introduces a numerical approach for obtaining the compliance of continuum robots, taking into account the influences of cable tensions, external loads, and gravity. Based on this method, an analysis to examine the compliance of a two-section cable-driven continuum robot within its workspace under various load conditions is conducted. Results indicate that the robot's compliance is correlated with the external load and the shape of the robot. Moreover, the compliance of the robot in the x direction and y direction is highly related with the distance between the robot's tip end and axes. These conclusions could be useful for the active compliance control of the robot.
AB - Continuum robots are characterized by their high compliance and dexterity. However, these features also lead to a reduction in accuracy. While many literature on continuum robots address aspects such as design, kinematics, and statics, there are few in-depth studies on the compliance of these robots. This paper introduces a numerical approach for obtaining the compliance of continuum robots, taking into account the influences of cable tensions, external loads, and gravity. Based on this method, an analysis to examine the compliance of a two-section cable-driven continuum robot within its workspace under various load conditions is conducted. Results indicate that the robot's compliance is correlated with the external load and the shape of the robot. Moreover, the compliance of the robot in the x direction and y direction is highly related with the distance between the robot's tip end and axes. These conclusions could be useful for the active compliance control of the robot.
KW - compliance analysis
KW - compliance model
KW - continuum robot
UR - https://www.scopus.com/pages/publications/85190957585
U2 - 10.1109/RICAI60863.2023.10489683
DO - 10.1109/RICAI60863.2023.10489683
M3 - 会议稿件
AN - SCOPUS:85190957585
T3 - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
SP - 790
EP - 795
BT - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
Y2 - 1 December 2023 through 3 December 2023
ER -