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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.

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Figures

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Fig. 1

Prototype of the continuum manipulator featuring the triangular notches

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Fig. 2

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

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Fig. 3

Force analysis of upper and lower beam segment's combinations

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Fig. 4

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

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Fig. 5

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

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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.

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Fig. 7

The comparison of theoretical position value with experimental measured position

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Fig. 8

The comparison of theoretical angle with experimental input value

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