Dr XIN DONG XIN.DONG@NOTTINGHAM.AC.UK
Associate Professor
Dr XIN DONG XIN.DONG@NOTTINGHAM.AC.UK
Associate Professor
Mark Raffles
Salvador Cobos-Guzman
DRAGOS AXINTE dragos.axinte@nottingham.ac.uk
Professor of Manufacturing Engineering
James Kell
A twisting problem is identified from the central located flexible backbone continuum robot. Regarding this problem, a design solution is required to mechanically minimize this twisting angle along the backbone. Further, the error caused by the kinematic assumption of previous works is identified as well, which requires a kinematic solution to minimize. The scope of this paper is to introduce, describe and teste a novel design of continuum robot which has a twin-pivot compliant joint construction that minimizes the twisting around its axis. A kinematics model is introduced which can be applied to a wide range of twin-pivot construction with two pairs of cables per section design. And according to this model, the approach for minimising the kinematic error is developed. Furthermore, based on the geometry and material property of compliant joint, the work volumes for single/three-section continuum robot are presented, respectively. The kinematic analysis has been verified by a three-section prototype of continuum robot and adequate accuracy and repeatability tests carried out. And in the test, the system generates relatively small twisting angles when a range of end loads is applied at the end of the arm. Utilising the concept presented in this paper, it is possible to develop a continuum robot which can minimize the twisting angle and be accurately controlled. In this paper, a novel design of continuum robot which has a twin-pivot compliant joint construction that minimizes the twisting around its axis is introduced, described and tested. A kinematics model is introduced which can be applied to a wide range of twin-pivot construction with two pairs of cables per section design. Furthermore, based on the geometry and material property of compliant joint, the work volumes for single/three-section continuum robot are presented, respectively. Finally, the kinematic analysis has been verified by a three-section prototype of continuum and adequate accuracy and repeatability tests carried out.
Dong, X., Raffles, M., Cobos-Guzman, S., Axinte, D., & Kell, J. (2016). A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation. Journal of Mechanisms and Robotics, 8(2), Article 021010. https://doi.org/10.1115/1.4031340
Journal Article Type | Article |
---|---|
Acceptance Date | Jul 24, 2015 |
Online Publication Date | Nov 24, 2015 |
Publication Date | 2016-04 |
Deposit Date | Dec 13, 2018 |
Journal | Journal of Mechanisms and Robotics |
Print ISSN | 1942-4302 |
Electronic ISSN | 1942-4310 |
Publisher | American Society of Mechanical Engineers |
Peer Reviewed | Peer Reviewed |
Volume | 8 |
Issue | 2 |
Article Number | 021010 |
DOI | https://doi.org/10.1115/1.4031340 |
Public URL | https://nottingham-repository.worktribe.com/output/1388704 |
Publisher URL | https://asmedigitalcollection.asme.org/mechanismsrobotics/article/8/2/021010/473094/A-Novel-Continuum-Robot-Using-Twin-Pivot-Compliant |
Design and stiffness analysis of A class of 2-DoF tendon driven parallel kinematic mechanism
(2018)
Journal Article
Design and analysis of a family of snake arm robots connected by compliant joints
(2014)
Journal Article
In-situ repair/maintenance with a continuum robotic machine tool in confined space
(2019)
Journal Article
About Repository@Nottingham
Administrator e-mail: discovery-access-systems@nottingham.ac.uk
This application uses the following open-source libraries:
Apache License Version 2.0 (http://www.apache.org/licenses/)
Apache License Version 2.0 (http://www.apache.org/licenses/)
SIL OFL 1.1 (http://scripts.sil.org/OFL)
MIT License (http://opensource.org/licenses/mit-license.html)
CC BY 3.0 ( http://creativecommons.org/licenses/by/3.0/)
Powered by Worktribe © 2024
Advanced Search