A ball-jointed tendon-driven continuum robot with multi-directional operability for grasping objects

IF 1.5 Q3 INSTRUMENTS & INSTRUMENTATION
Ryo Onose, Hideyuki Sawada
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Abstract

A continuum robot, inspired by biological features, flexibly bends its body and conforms to various shapes. The high compliance and low stiffness, however, causes low rigidity and ambiguity in control when it is applied to grasping and manipulating an object. In this study, we develop a ball-jointed tendon-driven continuum robot that can bend to arbitrary directions for manipulating and grasping an object. Discs are connected by ball joints, together with coil springs coupled with tendon threads, and form a backbone of the robotic body. The continuum robot is operated to bend to an arbitrary direction by pulling the tendons using three servomotors, and returns to the original straight shape by releasing the pulling force of the contracted coil springs. The robot is constructed by using 3D-printed parts. In the experiment, the ability of the multi-directional operation was tested by bending the continuum body to specific directions, and then performing arc-following motion. Furthermore, the manipulator's grasping performance was demonstrated by preparing five objects that have various shapes, sizes, and softness. The robot successfully grasped all the objects by wrapping around them and adapting its shape to the object's shapes. The experiments verified the satisfactory operability of the continuum robot.
可多方位抓取物体的球关节腱驱动连续机器人
连续体机器人受生物特征启发,可灵活弯曲身体并适应各种形状。然而,高顺应性和低刚度使其在抓取和操纵物体时刚性较低,控制不明确。在这项研究中,我们开发了一种球关节肌腱驱动的连续机器人,它可以向任意方向弯曲,以操纵和抓取物体。圆盘通过球形关节连接,加上螺旋弹簧和腱线,构成了机器人身体的主干。通过使用三个伺服电机拉动腱线,连续机器人可向任意方向弯曲,并在释放收缩螺旋弹簧的拉力后恢复到原来的直线形状。该机器人由三维打印部件制成。在实验中,通过将连续体向特定方向弯曲,然后进行弧形追随运动,测试了多方向操作的能力。此外,还通过准备五个形状、大小和软硬度各异的物体来展示机械手的抓取性能。机器人通过缠绕物体并根据物体的形状调整自己的形状,成功地抓取了所有物体。实验验证了连续机器人令人满意的可操作性。
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来源期刊
ROBOMECH Journal
ROBOMECH Journal Mathematics-Control and Optimization
CiteScore
3.20
自引率
7.10%
发文量
21
审稿时长
13 weeks
期刊介绍: ROBOMECH Journal focuses on advanced technologies and practical applications in the field of Robotics and Mechatronics. This field is driven by the steadily growing research, development and consumer demand for robots and systems. Advanced robots have been working in medical and hazardous environments, such as space and the deep sea as well as in the manufacturing environment. The scope of the journal includes but is not limited to: 1. Modeling and design 2. System integration 3. Actuators and sensors 4. Intelligent control 5. Artificial intelligence 6. Machine learning 7. Robotics 8. Manufacturing 9. Motion control 10. Vibration and noise control 11. Micro/nano devices and optoelectronics systems 12. Automotive systems 13. Applications for extreme and/or hazardous environments 14. Other applications
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