1
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Ma N, Zhou H, Yuan J, He G. Comprehensive stiffness regulation on multi-section snake robot with considering the parasite motion and friction effects. Bioinspir Biomim 2023; 19:016008. [PMID: 38011721 DOI: 10.1088/1748-3190/ad0ffc] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/11/2023] [Accepted: 11/27/2023] [Indexed: 11/29/2023]
Abstract
Snake robots have been widely used in challenging environments, such as confined spaces. However, most existing snake robots with large length/diameter ratios have low stiffness, and this limits their accuracy and utility. To remedy this, a novel 'macro-micro' structure aided by a new comprehensive stiffness regulation strategy is proposed in this paper. This improves the positional accuracy when operating in deep and confined spaces. Subsequently, a comprehensive strategy for regulating the stiffness of the system is then developed, along with a kinetostatic model for error prediction. The internal friction, variation of cable stiffness as a function of tension, and their effects on the structural stiffness of the snake arm under different configurations have been incorporated into the model to increase the modelling accuracy. Finally, the proposed models were validated experimentally on a physical prototype and control system (error: 4.3% and 2.5% for straight and curved configurations, respectively). The improvement in stiffness due to the adjustment of the tension in the driving cables (i.e. average 183.4%) of the snake arm is shown.
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Affiliation(s)
- Nan Ma
- School of Engineering, Lancaster University, Lancaster LA1 4YW, United Kingdom
| | - Haiqin Zhou
- Department of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, People's Republic of China
| | - Jujie Yuan
- Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, People's Republic of China
| | - Guangping He
- Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, People's Republic of China
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2
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Cao Y, Yang Z, Hao B, Wang X, Cai M, Qi Z, Sun B, Wang Q, Zhang L. Magnetic Continuum Robot with Intraoperative Magnetic Moment Programming. Soft Robot 2023; 10:1209-1223. [PMID: 37406287 DOI: 10.1089/soro.2022.0202] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/07/2023] Open
Abstract
Magnetic continuum robots (MCRs), which are free of complicated structural designs for transmission, can be miniaturized and are therefore widely used in the medical field. However, the deformation shapes of different segments, including deflection directions and curvatures, are difficult to control simultaneously under an external programmable magnetic field. This is because the latest MCRs have designs with an invariable magnetic moment combination or profile of one or more actuating units. Therefore, the limited dexterity of the deformation shape causes the existing MCRs to collide readily with their surroundings or makes them unable to approach difficult-to-reach regions. These prolonged collisions are unnecessary or even hazardous, especially for catheters or similar medical devices. In this study, a novel magnetic moment intraoperatively programmable continuum robot (MMPCR) is introduced. By applying the proposed magnetic moment programming method, the MMPCR can deform under three modalities, that is, J, C, and S shapes. Additionally, the deflection directions and curvatures of different segments in the MMPCR can be modulated as desired. Furthermore, the magnetic moment programming and MMPCR kinematics are modeled, numerically simulated, and experimentally validated. The experimental results exhibit a mean deflection angle error of 3.3° and correspond well with simulation results. Comparisons between navigation capacities of the MMPCR and MCR demonstrate that the MMPCR has a higher capacity for dexterous deformation.
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Affiliation(s)
- Yanfei Cao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Suzhou Institute of Biomedical Engineering and Technology, Chinese Academy of Sciences, Suzhou, China
| | - Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Mingxue Cai
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Zhaoyang Qi
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Bonan Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, China
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3
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Shen D, Zhang Q, Han Y, Tu C, Wang X. Design and Development of a Continuum Robot with Switching-Stiffness. Soft Robot 2023; 10:1015-1027. [PMID: 37184583 DOI: 10.1089/soro.2022.0179] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/16/2023] Open
Abstract
Continuum robots have the advantages of agility and adaptability. However, existing continuum robots have limitations of low stiffness and complex motion modes, and the existing variable stiffness methods cannot achieve a wide range of stiffness changes and fast switching stiffness simultaneously. A continuum robot structure, switching stiffness method, and motion principle are proposed in this article. The continuum robot is made up of three segments connected in series. Each segment comprises multiple spherical joints connected in series, and the joints can be locked by their respective airbag. A valve controls each airbag, quickly switching the segment between rigidity and flexibility. The motion of the segments is driven by three cables that run through the robot. The segment steers only when it is unlocked. When a segment becomes locked, it acts as a rigid body. As a result, by locking and unlocking each segment in sequence, the cables can alternately drive all the segments. The stiffness variation and movement of the continuum robot were tested. The segment's stiffness varies from 36.89 to 1300.95 N/m and the stiffness switching time is 0.25-0.48 s. The time-sharing control mode of segment stiffness and motion is validated by establishing a specific test platform and a mathematical model. The continuum robot's flexibility is demonstrated by controlling the fast bending of different segments sequentially.
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Affiliation(s)
- Donghua Shen
- School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China
| | - Qi Zhang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
| | - Yali Han
- School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China
| | - Chunlei Tu
- School of Mechanical Engineering, Southeast University, Nanjing, China
- Special Equipment Safety Supervision Inspection Institute of Jiangsu Province, Nanjing, China
| | - Xingsong Wang
- School of Mechanical Engineering, Southeast University, Nanjing, China
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4
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Wang M, Yuan J, Bao S, Du L, Ma S. Research on Self-Stiffness Adjustment of Growth-Controllable Continuum Robot (GCCR) Based on Elastic Force Transmission. Biomimetics (Basel) 2023; 8:433. [PMID: 37754184 PMCID: PMC10526793 DOI: 10.3390/biomimetics8050433] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/20/2023] [Revised: 09/14/2023] [Accepted: 09/15/2023] [Indexed: 09/28/2023] Open
Abstract
Continuum robots have good adaptability in unstructured and complex environments. However, affected by their inherent nature of flexibility and slender structure, there are challenges in high-precision motion and load. Thus, stiffness adjustment for continuum robots has consistently attracted the attention of researchers. In this paper, a stiffness adjustment mechanism (SAM) is proposed and built in a growth-controllable continuum robot (GCCR) to improve the motion accuracy in variable scale motion. The self-stiffness adjustment is realized by antagonism through cable force transmission during the length change of the continuum robot. With a simple structure, the mechanism has a scarce impact on the weight and mass distribution of the robot and required no independent actuators for stiffness adjustment. Following this, a static model considering gravity and end load is established. The presented theoretical static model is applicable to predict the shape deformations of robots under different loads. The experimental validations showed that the maximum error ratio is within 5.65%. The stiffness of the robot can be enhanced by nearly 79.6%.
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Affiliation(s)
- Mingyuan Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Jianjun Yuan
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Sheng Bao
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; (M.W.); (J.Y.)
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Liang Du
- Shanghai Robotics Institute, Shanghai University, Shanghai 200444, China;
| | - Shugen Ma
- Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu-Shi 525-8577, Japan;
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5
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Su M, Zhang Y, Chen H, Guan Y, Xiang C. Modeling, Analysis, and Computational Design of Muscle-driven Soft Robots. Soft Robot 2023; 10:808-824. [PMID: 36897741 DOI: 10.1089/soro.2022.0122] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/11/2023] Open
Abstract
Muscle driving is a critical actuation mode of soft or flexible robots and plays a key role in the motion of most animals. Although the system development of soft robots has been extensively investigated, the general kinematic modeling of soft bodies and the design methods used for muscle-driven soft robots (MDSRs) are inadequate. With a focus on homogeneous MDSRs, this article presents a framework for kinematic modeling and computational design. Based on continuum mechanics theory, the mechanical characteristics of soft bodies were first described using a deformation gradient tensor and energy density function. The discretized deformation was then depicted using a triangular meshing tool according to the piecewise linear hypothesis. Deformation models of MDSRs caused by external driving points or internal muscle units were established by the constitutive modeling of hyperelastic materials. The computational design of the MDSR was then addressed based on kinematic models and deformation analysis. Algorithms were proposed to infer the design parameters from the target deformation and to determine the optimal muscles. Several MDSRs were developed, and experiments were conducted to verify the effectiveness of the presented models and design algorithms. The computational and experimental results were compared and evaluated using a quantitative index. The presented framework of deformation modeling and computational design of MDSRs can facilitate the design of soft robots with complex deformations, such as humanoid faces.
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Affiliation(s)
- Manjia Su
- Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
| | - Yihong Zhang
- Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
| | - Hongkai Chen
- Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
| | - Yisheng Guan
- Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
| | - Chaoqun Xiang
- Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guangzhou, China
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6
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Zhang T, Li G, Yang X, Ren H, Guo D, Wang H, Chan K, Ye Z, Zhao T, Zhang C, Shang W, Shen Y. A Fast Soft Continuum Catheter Robot Manufacturing Strategy Based on Heterogeneous Modular Magnetic Units. Micromachines (Basel) 2023; 14:mi14050911. [PMID: 37241535 DOI: 10.3390/mi14050911] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Revised: 04/18/2023] [Accepted: 04/21/2023] [Indexed: 05/28/2023]
Abstract
Developing small-scale continuum catheter robots with inherent soft bodies and high adaptability to different environments holds great promise for biomedical engineering applications. However, current reports indicate that these robots meet challenges when it comes to quick and flexible fabrication with simpler processing components. Herein, we report a millimeter-scale magnetic-polymer-based modular continuum catheter robot (MMCCR) that is capable of performing multifarious bending through a fast and general modular fabrication strategy. By preprogramming the magnetization directions of two types of simple magnetic units, the assembled MMCCR with three discrete magnetic sections could be transformed from a single curvature pose with a large tender angle to a multicurvature S shape in the applied magnetic field. Through static and dynamic deformation analyses for MMCCRs, high adaptability to varied confined spaces can be predicted. By employing a bronchial tree phantom, the proposed MMCCRs demonstrated their capability to adaptively access different channels, even those with challenging geometries that require large bending angles and unique S-shaped contours. The proposed MMCCRs and the fabrication strategy shine new light on the design and development of magnetic continuum robots with versatile deformation styles, which would further enrich broad potential applications in biomedical engineering.
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Affiliation(s)
- Tieshan Zhang
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Gen Li
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Xiong Yang
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Hao Ren
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
| | - Dong Guo
- The Robot and Automation Center and the Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong 999077, China
- Shenzhen Research Institute, City University of Hong Kong, Shenzhen 518057, China
| | - Hong Wang
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
| | - Ki Chan
- Prince Philip Dental Hospital, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Zhou Ye
- Applied Oral Sciences and Community Dental Care, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Tianshuo Zhao
- The Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong 999077, China
| | - Chengfei Zhang
- Prince Philip Dental Hospital, Faculty of Dentistry, University of Hong Kong, Hong Kong 999077, China
| | - Wanfeng Shang
- Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
| | - Yajing Shen
- The Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
- Research Center on Smart Manufacturing, Hong Kong University of Science and Technology, Kowloon, Hong Kong 999077, China
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7
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Liu T, Zhang G, Zhang P, Cheng T, Luo Z, Wang S, Du F. Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion. Sensors (Basel) 2023; 23:3709. [PMID: 37050768 PMCID: PMC10099042 DOI: 10.3390/s23073709] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/06/2023] [Revised: 03/29/2023] [Accepted: 03/31/2023] [Indexed: 06/19/2023]
Abstract
Concentric tube robots (CTRs) are a promising prospect for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Existing mechanics-based kinematic models typically neglect friction, clearance, and torsion between each pair of contacting tubes, leading to large positioning errors in medical applications. In this paper, an improved kinematic modeling method is developed. The effect of clearance on tip position during concentric tube assembly is compensated by the database method. The new kinematic model is mechanic-based, and the impact of friction moment and torsion on tubes is considered. Integrating the infinitesimal torsion of the concentric tube robots eliminates the errors caused by the interaction force between the tubes. A prototype is built, and several experiments with kinematic models are designed. The results indicate that the error of tube rotations is less than 2 mm. The maximum error of the feeding experiment does not exceed 0.4 mm. The error of the new modeling method is lower than that of the previous kinematic model. This paper has substantial implications for the high-precision and real-time control of concentric tube robots.
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Affiliation(s)
- Tianxiang Liu
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
| | - Gang Zhang
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
| | - Peng Zhang
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
| | - Tianyu Cheng
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
| | - Zijie Luo
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
| | - Shengsong Wang
- Shandong Center for Food and Drug Evaluation & Inspection, Jinan 250014, China
| | - Fuxin Du
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
- Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan 250061, China
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8
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Zhang S, Li F, Fu R, Li H, Zou S, Ma N, Qu S, Li J. A Versatile Continuum Gripping Robot with a Concealable Gripper. Cyborg Bionic Syst 2023; 4:0003. [PMID: 37040519 PMCID: PMC10076060 DOI: 10.34133/cbsystems.0003] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2022] [Accepted: 11/02/2022] [Indexed: 03/05/2023] Open
Abstract
Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as “multi-node synergy method” for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures.
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Affiliation(s)
- Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
| | - Fenggang Li
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Hang Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Suli Zou
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
| | - Nan Ma
- Department of Mechanical, Materials, and Manufacturing Engineering, University of Nottingham, Nottingham, NG7 2QL, UK
| | - Shengyuan Qu
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
| | - Jian Li
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
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9
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Shan Y, Zhao Y, Pei C, Yu H, Liu P. A novel design of a passive variable stiffness soft robotic gripper. Bioinspir Biomim 2022; 17:066014. [PMID: 36174553 DOI: 10.1088/1748-3190/ac965a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/29/2022] [Accepted: 09/29/2022] [Indexed: 06/16/2023]
Abstract
Inspired by the twisting and hanging phenomenon of vines, this paper proposes and designs a passive variable stiffness soft robotic gripper to grasp an object in a simple and robust manner using the principle of jamming. This method has the characteristics of high reliability and good stability, which can achieve soft grasping and rigid load-bearing of the object. Firstly, according to two key issues, the design model of the gripper is proposed, the principle of the proposed gripper is analyzed, and the relationship between the stiffness of the gripper and the stiffness of the object is revealed. Secondly, the model of the robotic gripper is created using a conventional motor drive method, and the grasping process and deformation causes of the gripper are analyzed by using the principle of instability effect and large deformation principle. Finally, the experimental prototype is developed and the feasibility of the design principle and the grasping deformation process of the gripper are verified by gripping experiments.
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Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
- School of Computing, Engineering and the Built Environment, Edinburgh Napier University, 10 Colinton Road, Edinburgh EH10 5DT, United Kingdom
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Hongnian Yu
- School of Computing, Engineering and the Built Environment, Edinburgh Napier University, 10 Colinton Road, Edinburgh EH10 5DT, United Kingdom
- School of Electrical Engineering, Zhengzhou University, Zhengzhou, People's Republic of China
| | - Pengcheng Liu
- Department of Computer Science, University of York, Deramore Lane, York YO10 5GH, United Kingdom
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10
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Wang P, Tang Z, Xin W, Xie Z, Guo S, Laschi C. Design and Experimental Characterization of a Push-Pull Flexible Rod-Driven Soft-Bodied Robot. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3189435] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Peiyi Wang
- Robotics Research Center, Beijing Jiaotong University, Beijing, China
| | - Zhiqiang Tang
- NUS Mechanical Engineering, National University of Singapore, Singapore
| | - Wenci Xin
- NUS Mechanical Engineering, National University of Singapore, Singapore
| | - Zhexin Xie
- NUS Mechanical Engineering, National University of Singapore, Singapore
| | - Sheng Guo
- Robotics Research Center, Beijing Jiaotong University, Beijing, China
| | - Cecilia Laschi
- NUS Mechanical Engineering, National University of Singapore, Singapore
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11
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Huang L, Liu B, Zhang L, Yin L. Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads. Micromachines 2022; 13:mi13071149. [PMID: 35888966 PMCID: PMC9319917 DOI: 10.3390/mi13071149] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/28/2022] [Revised: 07/15/2022] [Accepted: 07/18/2022] [Indexed: 02/04/2023]
Abstract
Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.
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Affiliation(s)
- Long Huang
- School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China; (L.H.); (B.L.)
- Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-Performance Mechanical Equipment, Changsha University of Science and Technology, Changsha 410114, China
| | - Bei Liu
- School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China; (L.H.); (B.L.)
| | - Leiyu Zhang
- College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China;
| | - Lairong Yin
- School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China; (L.H.); (B.L.)
- Correspondence:
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12
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13
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Lee S, Jung W, Ko K, Hwang Y. Wireless Micro Soft Actuator without Payloads Using 3D Helical Coils. Micromachines (Basel) 2022; 13:799. [PMID: 35630265 PMCID: PMC9143378 DOI: 10.3390/mi13050799] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Revised: 05/17/2022] [Accepted: 05/19/2022] [Indexed: 02/04/2023]
Abstract
To receive a greater power and to demonstrate the soft bellows-shaped actuator's wireless actuation, micro inductors were built for wireless power transfer and realized in a three-dimensional helical structure, which have previously been built in two-dimensional spiral structures. Although the three-dimensional helical inductor has the advantage of acquiring more magnetic flux linkage than the two-dimensional spiral inductor, the existing microfabrication technique produces a device on a two-dimensional plane, as it has a limit to building a complete three-dimensional structure. In this study, by using a three-dimensional printed soluble mold technique, a three-dimensional heater with helical coils, which have a larger heating area than a two-dimensional heater, was fabricated with three-dimensional receiving inductors for enhanced wireless power transfer. The three-dimensional heater connected to the three-dimensional helical inductor increased the temperature of the liquid and gas inside the bellows-shaped actuator while reaching 176.1% higher temperature than the heater connected to the two-dimensional spiral inductor. Thereby it enables a stroke of the actuator up to 522% longer than when it is connected to the spiral inductor. Therefore, three-dimensional micro coils can offer a significant approach to the development of wireless micro soft robots without incurring heavy and bulky parts such as batteries.
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Affiliation(s)
| | | | | | - Yongha Hwang
- Department of Control and Instrumentation Engineering, Korea University, Sejong 30019, Korea; (S.L.); (W.J.); (K.K.)
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Affiliation(s)
- Peiyi Wang
- school of Mechanical,Electronic and Control Engineering, Beijing Jiaotong University, Beijing, China, 100044
| | - Sheng Guo
- Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, China, 100044
| | - Xiangyang Wang
- Robotics Research Center, Beijing Jiaotong University, Beijing, China, 100044
| | - Yifan Wu
- MECE, Beijing Jiaotong University, Beijing, China, 100044
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15
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Affiliation(s)
- Xiaoqian Chen
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Xiang Zhang
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Yiyong Huang
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Lu Cao
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Jinguo Liu
- Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China
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16
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Huang L, Liu B, Yin L, Zeng P, Yang Y, Wang Y. Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints. Journal of Robotics 2021; 2021:1-16. [DOI: 10.1155/2021/5124816] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.
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Liu Z, Zhang X, Cai Z, Peng H, Wu Z. Real-Time Dynamics of Cable-Driven Continuum Robots Considering the Cable Constraint and Friction Effect. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3086413] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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18
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Liu J, Zhang C, Liu Z, Zhao R, An D, Wei Y, Wu Z, Yu J. Design and analysis of a novel tendon-driven continuum robotic dolphin. Bioinspir Biomim 2021; 16:065002. [PMID: 34433157 DOI: 10.1088/1748-3190/ac2126] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/31/2021] [Accepted: 08/25/2021] [Indexed: 06/13/2023]
Abstract
In this paper, a novel continuum robotic dolphin termed 'ConRoDolI' is proposed and developed. The biomimetic robot features dual tendon driving continuum mechanisms that are utilized to replicate the twisting and bending motions of the dolphin's caudal vertebrae and thoracic vertebrae. More importantly, a central pattern generator based kinematics is analyzed to yield stable dolphin-like swimming. In the meantime, the relationship between the backbone shape and both the tendon length as well as position and orientation are explored. Furthermore, multimodal swimming gaits are designed to pave the way for a three-dimensional (3D) swimming decoupling solution, involving forwarding swimming, multiple yaw patterns, and multiple pitch patterns. All of these endow the robotic dolphin with 3D maneuverability. Finally, extensive experiments demonstrate the feasibility of the proposed biomimetic mechatronic design and control approach. The forward swimming speed is 0.44 body lengths per second (BL/s). The steering radius of the robot is about 0.11 BL with an angular velocity of 10°/s and the diving speed is about 0.13 BL/s. The average propulsion efficiency is about 0.6 with the maximum is over 0.8. The obtained results shed light on the improvement of aquatic maneuverability associated with new-concept underwater vehicles.
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Affiliation(s)
- Jincun Liu
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
- National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People's Republic of China
| | - Chi Zhang
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
- National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People's Republic of China
| | - Zhenna Liu
- Shandong Labor Vocational and Technical College, Jinan 250022, People's Republic of China
| | - Ran Zhao
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
- National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People's Republic of China
| | - Dong An
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
- National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People's Republic of China
| | - Yaoguang Wei
- College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, People's Republic of China
- National Innovation Centre for Digital Fishery, China Agricultural University, Beijing 100083, People's Republic of China
| | - Zhengxing Wu
- State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, People's Republic of China
| | - Junzhi Yu
- State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, BIC-ESAT, College of Engineering, Peking University, Beijing 100871, People's Republic of China
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Abstract
Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a traditional serial robot, they have more degrees of freedom and can deform their flexible bodies to go through a constrained environment. In this paper, we classify CCRs according to basic transmission units. The merits, materials and potential drawbacks of each type of CCR are described. Drive systems depend on the basic transmission units significantly, and their advantages and disadvantages are reviewed and summarized. Variable stiffness and intrinsic sensing are desired characteristics of CCRs, and the methods of obtaining the two characteristics are discussed. Finally, we discuss the friction, buckling, singularity and twisting problems of CCRs, and emphasise the ways to reduce their effects, followed by several proposing perspectives, such as the collaborative CCRs.
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Yan K, Yan W, Zeng W, Ding Q, Chen J, Yan J, Lam CP, Wan S, Cheng SS. Towards a Wristed Percutaneous Robot With Variable Stiffness for Pericardiocentesis. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3062583] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Abstract
Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.
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Li Y, Liu Y, Meng D, Wang X, Liang B. Modeling and Experimental Verification of a Cable-Constrained Synchronous Rotating Mechanism Considering Friction Effect. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3007418] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Hussain I, Malvezzi M, Gan D, Iqbal Z, Seneviratne L, Prattichizzo D, Renda F. Compliant gripper design, prototyping, and modeling using screw theory formulation. Int J Rob Res 2020. [DOI: 10.1177/0278364920947818] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
This article investigates some aspects related to the design, modeling, prototyping, and testing of soft–rigid tendon-driven grippers. As a case study, we present the design and development of a two-finger soft gripper and exploit it as an example to demonstrate the application scenario of our mathematical model based on screw theory. A mathematical formulation based on screw theory is then presented to model gripper dynamics. The proposed formulation is the extension of a model previously introduced including the mechanical system dynamics. In this type of gripper, it is possible to achieve different behaviors, e.g., different fingertip trajectories, equivalent fingertip stiffness ellipsoids, etc., while keeping the same kinematic structure of the gripper and varying the properties of its passive deformable joints. These properties can be varied in the prototype by properly regulating some manufacturing parameters, such as percentage of printing infill density in a 3D printing process. We performed experiments with the prototype of the gripper and an optical tracking system to validate the proposed mathematical formulation, and to compare its results with other simplified formulations. We furthermore identified the main performance of the gripper in terms of payload and maximum horizontal resisted force, and verified the capabilities of the gripper to grasp objects with different shapes and weights.
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Affiliation(s)
- Irfan Hussain
- Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE
- Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE
| | - Monica Malvezzi
- Università degli Studi Siena, Department of Information Engineering, Siena, Italy
| | - Dongming Gan
- Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE
| | - Zubair Iqbal
- Università degli Studi Siena, Department of Information Engineering, Siena, Italy
| | - Lakmal Seneviratne
- Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE
| | - Domenico Prattichizzo
- Università degli Studi Siena, Department of Information Engineering, Siena, Italy
- Istituto Italiano di Tecnologia, Genoa, Italy
| | - Federico Renda
- Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University of Science and Technology, Abu Dhabi, UAE
- Department of Mechanical Engineering, Khalifa University of Science and Technology, Abu Dhabi, UAE
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