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research-article

A General Friction Model of Discrete Interactions for Tendon Actuated Dexterous Manipulators

[+] Author and Article Information
Anzhu Gao

State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences; University of Chinese Academy of Sciences No. 19, Feiyun Road, Hunan District, Shenyang, Liaoning 110179, China
gaoanzhu@hotmail.com

Yun Zou

State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences No. 19, Feiyun Road, Hunan District, Shenyang, Liaoning 110179, China
zouyun@sia.cn

Zhidong Wang

Dept. of Advanced Robotics, Chiba Institute of Technology 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
zhidong.wang@it-chiba.ac.jp

Hao Liu

State Key Laboratory of Robotics Shenyang Institute of Automation, Chinese Academy of Sciences No. 19, Feiyun Road, Hunan District, Shenyang, Liaoning 110179, China
liuhao@sia.cn

1Corresponding author.

ASME doi:10.1115/1.4036719 History: Received November 05, 2016; Revised April 26, 2017

Abstract

Continuum robots present the great dexterity and compliance as dexterous manipulators to accomplish complex positioning tasks in confined anatomy during minimally invasive surgery. Tendon actuation is one of the most popular approaches, which is to insert the tendon to eccentrically go through and interact with the flexible backbone to accomplish compliant bends. However, hysteresis of tip trajectory of tendon actuated dexterous manipulators has been observed during the loading and unloading procedure, which is mainly caused by the hindered friction at discrete interactions between the actuation tendon and conduits. This paper aims to propose a general friction model to describe the interactions and friction profile at the multiple discrete contact points for tendon actuated dexterous manipulators under the history dependent tendon tension. The friction model was integrated into the beam theory to describe the hysteresis and loading history dependent behavior by solving the profiles of tendon force, normal force and friction force, as well as the deflection of the dexterous manipulator. Experiments were carried out to validate the effectiveness of the proposed friction model. Results indicate that the friction model can successfully describe the discrete interaction and predict the deflection of dexterous manipulator subject to the different tendon loading histories. Furthermore, we also discuss the effects of discrete friction to the tendon force propagation and the loading history dependent behavior.

Copyright (c) 2017 by ASME
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