0
Research Papers

Kinematics Modeling of a Notched Continuum Manipulator

[+] Author and Article Information
Zhijiang Du

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
2 Yikuang Street,
Harbin 150080, China
e-mail: duzj01@hit.edu.cn

Wenlong Yang

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
2 Yikuang Street,
Harbin 150080, China
e-mail: yangwl@hit.edu.cn

Wei Dong

State Key Laboratory of Robotics and System,
Harbin Institute of Technology,
2 Yikuang Street,
Harbin 150080, China
e-mail: dongwei@hit.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received June 4, 2014; final manuscript received October 22, 2014; published online April 6, 2015. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 7(4), 041017 (Nov 01, 2015) (9 pages) Paper No: JMR-14-1125; doi: 10.1115/1.4028935 History: Received June 04, 2014; Revised October 22, 2014; Online April 06, 2015

In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using Denavit–Hartenberg (D–H) procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DOF) is simplified into finite discrete joints. Based on that hypothesis, the mapping from the discrete joints to the distal position of the continuum manipulator is built up via the mechanics model. On the other hand, to reduce the effect of the hyper-redundancy for the continuum manipulator's inverse kinematic model, the “curve-fitting” approach is utilized to map the end position to the deformation angle of the continuum manipulator. By the proposed strategy, the inverse kinematics of the hyper-redundant continuum manipulator can be solved by using the traditional geometric method. Finally, the proposed methodologies are validated experimentally on a triangular notched continuum manipulator which illustrates the capability and the effectiveness of our proposed kinematics for continuum manipulators and also can be used as a generic method for such notched continuum manipulators.

FIGURES IN THIS ARTICLE
<>
Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Prototype of the continuum manipulator featuring the triangular notches

Grahic Jump Location
Fig. 2

(a) CAD model and the anticipated bending on the bending plane. (b) Analysis of VSU and coordinate assignment.

Grahic Jump Location
Fig. 3

Force analysis of upper and lower beam segment's combinations

Grahic Jump Location
Fig. 4

A representation of beam index in the mechanics model and schematic drawing of the continuum manipulator and the bending arm kinematics

Grahic Jump Location
Fig. 5

The discretely date and fitting curve of mapping deformation angle and corresponding position

Grahic Jump Location
Fig. 6

(a) The setup for deformation angle test of the continuum manipulator prototype. (b) The setup for distal position test of the continuum manipulator prototype.

Grahic Jump Location
Fig. 7

The comparison of theoretical position value with experimental measured position

Grahic Jump Location
Fig. 8

The comparison of theoretical angle with experimental input value

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In