Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions

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	Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions
	Gao AZ(高安柱); Ryan J. Murphy; Liu H(刘浩); Iulian I. Iordachita; Mehran Armand
刊名	IEEE Transactions on Mechatronics
	2017
卷号	22 期号:1 页码:465-475
关键词	Dexterous continuum manipulators compliant joints partition approach Cosserat rod theory
ISSN号	1083-4435
通讯作者	高安柱
产权排序	1
中文摘要	Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Engineering
关键词[WOS]	OSTEOLYSIS ; SURGERY ; DESIGN ; ROBOTS
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000395750100047
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19722]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Gao AZ,Ryan J. Murphy,Liu H,et al. Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions[J]. IEEE Transactions on Mechatronics,2017,22(1):465-475.
APA	Gao AZ,Ryan J. Murphy,Liu H,Iulian I. Iordachita,&Mehran Armand.(2017).Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions.IEEE Transactions on Mechatronics,22(1),465-475.
MLA	Gao AZ,et al."Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions".IEEE Transactions on Mechatronics 22.1(2017):465-475.