Motion Analysis of Rod-Driven Continuum Robots
Journal
Mechanisms and Machine Science
Journal Volume
171 MMS
Start Page
220
End Page
230
ISSN
2211-0984
2211-0992
ISBN (of the container)
9783031702501
ISBN
9783031702501
9783031702518
Date Issued
2024
Author(s)
DOI
10.1007/978-3-031-70251-8_24
Abstract
This paper presents the motion modelling of rod-driven multi-backbone continuum robots via the vector form intrinsic finite element (VFIFE) method. The contact force between the driving rod and the disk is calculated by the contact algorithm and penalty method. Furthermore, the static modeling of the system is achieved by employing a dynamic relaxation algorithm with kinetic damping on the dynamic equations established by VFIFE. Finally, experiments are conducted to validate the simulation results of a single-segment rod-driven continuum robot, while simulations are exclusively performed on a multi-segment variant. The simulation results match well with the experiment ones.
Event(s)
14th International Conference on the Theory of Machines and Mechanisms, TMM 2024, Liberec, 5 September 2024 through 7 September 2024. Code 318129
Subjects
Contact algorithm; Continuum robot; Kinetic damping; Rod driven; Vector Form Intrinsic Finite Element method
Publisher
Springer Nature Switzerland
Type
conference paper