TY - GEN
T1 - Design Optimization of Y-Shaped Transmission System for Dual-Arm Concentric-Tube Robots
AU - Zhang, Chao
AU - Cen, Guangdu
AU - Yang, Xing
AU - Wang, Jiaole
AU - Song, Shuang
AU - Meng, Max Q.H.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Y-shaped transmission system of dual-arm concentric-tube robots (CTR) possesses advantage of convenient arrangement of its actuation units. However, the design optimization of such Y-shaped transmission system has not been systematically studied. This paper presents an optimal design framework of Y-shaped transmission system for dual-arm CTR. Each robotic arm consists of several telescoped tubes, and each tube is made by a pre-curved super-elastic NiTi tube bonded to a stainless steel (SS) tube that transmits rotations and translations to the distal NiTi tube. Geometric constraints of the transmission system, including the tube diameters, the Y-shaped configuration, and the collision of actuation units, are first deduced. Secondly, deformation constraints considering the bending and torsional twisting of SS tubes are derived. Lastly, the design problem has been formulated as a constrained nonlinear optimization problem whose objective function is to minimize the relative twist angle or length of SS tubes. According to the proposed framework, a dual-arm CTR prototype with the optimal Y-shaped transmission system has been built. Thorough analyses on the optimal designs by different objective functions have been presented. A performance test experiment has also been conducted to validate the modeling and optimization methods.
AB - Y-shaped transmission system of dual-arm concentric-tube robots (CTR) possesses advantage of convenient arrangement of its actuation units. However, the design optimization of such Y-shaped transmission system has not been systematically studied. This paper presents an optimal design framework of Y-shaped transmission system for dual-arm CTR. Each robotic arm consists of several telescoped tubes, and each tube is made by a pre-curved super-elastic NiTi tube bonded to a stainless steel (SS) tube that transmits rotations and translations to the distal NiTi tube. Geometric constraints of the transmission system, including the tube diameters, the Y-shaped configuration, and the collision of actuation units, are first deduced. Secondly, deformation constraints considering the bending and torsional twisting of SS tubes are derived. Lastly, the design problem has been formulated as a constrained nonlinear optimization problem whose objective function is to minimize the relative twist angle or length of SS tubes. According to the proposed framework, a dual-arm CTR prototype with the optimal Y-shaped transmission system has been built. Thorough analyses on the optimal designs by different objective functions have been presented. A performance test experiment has also been conducted to validate the modeling and optimization methods.
UR - https://www.scopus.com/pages/publications/85128198400
U2 - 10.1109/ROBIO54168.2021.9739385
DO - 10.1109/ROBIO54168.2021.9739385
M3 - 会议稿件
AN - SCOPUS:85128198400
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 571
EP - 576
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -