基于 Cosserat Rod 的机器人辅助心脏消融混合动力软机器人动态建模

IF 2.2 3区 工程技术 Q2 ENGINEERING, MECHANICAL
Actuators Pub Date : 2023-12-23 DOI:10.3390/act13010008
Majid Roshanfar, Javad Dargahi, Amir Hooshiar
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引用次数: 0

摘要

由于顺应性和柔性结构所具有的独特特性,软机器人技术已成为一个前景广阔的领域。克服精确位置控制的挑战对于此类系统的开发至关重要,这需要对软机器人进行精确建模。为此,我们提出了一种采用气压和肌腱的混合驱动软机器人,并利用动态 Cosserat 杆理论对其进行了建模和验证。这种方法全面解决了变形的各个方面,包括弯曲、扭转、剪切和伸展。所设计的机器人用于机器人辅助心脏消融术,这是一种用于治疗心律失常的微创手术。在 Cosserat 模型框架内,动态方程随时间离散化,并在每个时间步求解常微分方程 (ODE)。这些运动方程有助于预测机器人对不同控制输入的反应,如施加到肌腱上的气压和张力。为了检验模型的准确性,我们在一个物理原型上进行了实验研究。实验中,每根肌腱的张力范围为 0 至 3 N,中心腔的气压范围为 0 至 40 kPa。实验结果证实了模型的准确性,表明动态方程成功预测了机器人在不同控制输入下的运动。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation
Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate modeling of soft robots. In response, a hybrid-actuated soft robot employing both air pressure and tendons was proposed, modeled, and validated using the dynamic Cosserat rod theory. This approach comprehensively addresses various aspects of deformation, including bending, torsion, shear, and extension. The designed robot was intended for robot-assisted cardiac ablation, a minimally invasive procedure that is used to treat cardiac arrhythmias. Within the framework of the Cosserat model, dynamic equations were discretized over time, and ordinary differential equations (ODEs) were solved at each time step. These equations of motion facilitated the prediction of the robot’s response to different control inputs, such as the air pressure and tension applied to the tendons. Experimental studies were conducted on a physical prototype to examine the accuracy of the model. The experiments covered a tension range of 0 to 3 N for each tendon and an air pressure range of 0 to 40 kPa for the central chamber. The results confirmed the accuracy of the model, demonstrating that the dynamic equations successfully predicted the robot’s motion in response to diverse control inputs.
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来源期刊
Actuators
Actuators Mathematics-Control and Optimization
CiteScore
3.90
自引率
15.40%
发文量
315
审稿时长
11 weeks
期刊介绍: Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open access journal on the science and technology of actuators and control systems published quarterly online by MDPI.
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