Abstract
As a new type of bionic special robot, continuum robot has the characteristics of multi-degrees of freedom, good flexibility, large length-diameter ratio and strong adaptability to the environment. The compliant mechanism has the advantages of simple structure, free from assembly, and has a certain stiffness, which is very suitable for the design of continuum robot. However, due to the limitation of its own structure, its bending angle is small, it cannot fully meet the requirements of the joint bending angle of continuum robot. In this study, a continuum robot design based on compliant mechanism was proposed. The remote center motion mechanism was used as the continuum robot joint, and the joint configuration was dominated by trapezoidal leaf in series. The structural dimensions of the leaf were optimized. Then the kinematics model of the robot is established based on piecewise constant curvature theory. Finally, the compressive stiffness, joint stiffness of the compliant joint, and the kinematic performance of the continuum robot were explored through simulation and experiment. The rationality of joint configuration design and stiffness design, as well as the applicability of the kinematic model were verified.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Axinte, D., et al.: MiRoR-miniaturized robotic systems for holistic in-situ repair and maintenance works in restrained and hazardous environments. IEEE/ASME Trans. Mechatron. 23(2), 978–981 (2018)
Dong, X., et al.: Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines. Robot. Comput. Integrat. Manufact. 44, 218–229 (2017)
Buckingham, R., Graham, A.: Snaking around in a nuclear jungle. Indus. Robot 32(2), 120–127 (2015)
Watanabe, H., Kanou, K., Kobayashi, Y., Fujie, M.G.: Development of a ‘Steerable Drill’ for ACL reconstruction to create the arbitrary trajectory of a bone tunnel. In: IEEE International Conference on Intelligent Robots and Systems, pp. 955–960 (2011)
De Volder, M., Moers, A., Reynaerts, D.: Fabrication and control of miniature McKibben actuators. Sens. Actuat. A Phys. 166, 111–116 (2011)
Nahar, D., Yanik, P.M., Walker, I.D.: Robot tendrils: long, thin continuum robots for inspection in space operations. In: 2017 IEEE Aerospace Conference, IEEE, pp. 1–8 (2017)
Liljebäck, P., Mills, R.: Eelume: a flexible and subsea resident imr-vehicle. In: Oceans 2017-Aberdeen. IEEE, pp. 1–4 (2017)
Buckingham, R., Graham, A.: Nuclear snake-arm robots. Indus. Robot 39(1), 6–11 (2012)
Buckingham, R., et al.: Snake-arm robots: a new approach to aircraft assembly. SAE Tech. Paper Ser. 1, 724 (2007)
Kim, Y., Cheng, S.S., Diakite, M., et al.: Toward the development of a flexible mesoscale MRI-compatible neurosurgical continuum robot. IEEE Trans. Robot. 33(6), 1386–1397 (2017)
Xu, K., Liu, H.: Multi-backbone continuum mechanisms: forms and applications. J. Mech. Eng. 54(13), 25–33 (2018)
Daniel, B., Roppenecker, P.: Multi arm snake-like robot kinematics. In: Intelligent Robots and Systems, pp. 5040–5045 (2013)
Penning, R.S., Jung, J., Borgstadt, J.A., Ferrier, N.J., Zinn, M.R.: Towards closed loop control of a continuum robotic manipulator for medical applications. In: Proccedings of EEE International Conference on Robotics and Automation, Shanghai, pp. 4822–4827 (2011)
Dupont, P.E., Lock, J., Itkowitz, B., et al.: Design and control of concentric-tube robots. IEEE Trans. Robot 26(2), 209–225 (2010)
Howell, L.L., Midha, A.: A method for the design of compliant mechanisms with small-length flexural pivots. ASME J. Mech. Des. 11(6), 280–290 (1994)
Yu, J., Hao, G., Chen, G., Bi, S.: State-of-art of compliant mechanisms and their applications. J. Mech. Eng. 51(13), 53–68 (2015)
Awtar, S., Slocum, A.H.: Constraint-based design of parallel kinematic XY flexure mechanisms. ASME J. Mech. Des. 129(8), 816–830 (2007)
Dong, X., Raffles, M., Guzman, S.C., et al.: Design and analysis of a family of snake arm robots connected by compliant joints. Mech. Mach. Theory 77, 73–91 (2014)
Roppenecker, D.B., Schuster, L., Coy, J.A., et al.: Modular body of the multi arm snake-like robot. In: International Conference on Robotics and Biomimetics, pp. 374–379 (2014)
Kato, T., Okumura, I., Kose, H., Takagi, K., Hata, N.: Tendon-driven continuum robot for neuroendoscopy: validation of extended kinematic mapping for hysteresis operation. Int. J. Comput. Assist. Radiol. Surg. 11(4), 589–602 (2015). https://doi.org/10.1007/s11548-015-1310-2
Tian, J., Wang, T., Fang, X., et al.: Design, fabrication and modeling analysis of a spiral support structure with superelastic Ni-Ti shape memory alloy for continuum robot. Smart Mater. Struct. 29(4), 045007 (2020)
Xu, P., Yu, J., Zong, G., et al.: An effective pseudo-rigid-body method for beam-based compliant mechanisms. Precis. Eng. 34(3), 634–639 (2010)
Acknowledgements
This work was supported in part by the National Key Research and Development Program of China (Grant No. 2019YFB1311200), and the National Natural Science Foundation of China (Grant No. U1813221).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Switzerland AG
About this paper
Cite this paper
Li, G., Yu, J., Tang, Y., Pan, J., Cao, S., Pei, X. (2021). Design of Continuum Robot Based on Compliant Mechanism. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_17
Download citation
DOI: https://doi.org/10.1007/978-3-030-89092-6_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-89091-9
Online ISBN: 978-3-030-89092-6
eBook Packages: Computer ScienceComputer Science (R0)