一种避免外载荷扭转的混合肌腱驱动连续体机器人。

IF 2.9 Q2 ROBOTICS
Frontiers in Robotics and AI Pub Date : 2025-05-14 eCollection Date: 2025-01-01 DOI:10.3389/frobt.2025.1576209
Maria Paula Huertas Niño, Mohamed Boutayeb, Dominique Martinez
{"title":"一种避免外载荷扭转的混合肌腱驱动连续体机器人。","authors":"Maria Paula Huertas Niño, Mohamed Boutayeb, Dominique Martinez","doi":"10.3389/frobt.2025.1576209","DOIUrl":null,"url":null,"abstract":"<p><p>Tendon-driven continuum robots usually consists of several actuators and cables pulling a flexible backbone. The tendon path alongside the backbone allows to perform complex movements with high dexterity. Yet, the integration of multiple tendons adds complexity and the lack of rigidity makes continuum robots susceptible to torsion whenever an external force or load is applied. This paper proposes a reduced complexity, hybrid tendon-driven continuum robot (HTDCR) that avoids undesired torsion under external load. Bending of the HTDCR is achieved from a single tendon with lateral joints alongside the backbone acting as mechanical constraint on the bending plane. A rotary base then provides an additional degree of freedom by allowing full rotation of the arm. We developed a robot prototype with control law based on a constant curvature model and validated it experimentally with various loads on the tip. Body deviation outside the bending plane is negligible (mm range), thereby demonstrating no torsional deformation. Tip deflection within the bending plane is smaller than the one obtained with a 4-tendon driven continuum robot. Moreover, tip deflection can be accurately estimated from the load and motor input which paves the way to possible compensation. All together, the experiments demonstrate the efficiency of the HTDCR with 450 g payload which makes it suitable in agricultural tasks such as fruit and vegetable harvesting.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1576209"},"PeriodicalIF":2.9000,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12116320/pdf/","citationCount":"0","resultStr":"{\"title\":\"A hybrid tendon-driven continuum robot that avoids torsion under external load.\",\"authors\":\"Maria Paula Huertas Niño, Mohamed Boutayeb, Dominique Martinez\",\"doi\":\"10.3389/frobt.2025.1576209\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Tendon-driven continuum robots usually consists of several actuators and cables pulling a flexible backbone. The tendon path alongside the backbone allows to perform complex movements with high dexterity. Yet, the integration of multiple tendons adds complexity and the lack of rigidity makes continuum robots susceptible to torsion whenever an external force or load is applied. This paper proposes a reduced complexity, hybrid tendon-driven continuum robot (HTDCR) that avoids undesired torsion under external load. Bending of the HTDCR is achieved from a single tendon with lateral joints alongside the backbone acting as mechanical constraint on the bending plane. A rotary base then provides an additional degree of freedom by allowing full rotation of the arm. We developed a robot prototype with control law based on a constant curvature model and validated it experimentally with various loads on the tip. Body deviation outside the bending plane is negligible (mm range), thereby demonstrating no torsional deformation. Tip deflection within the bending plane is smaller than the one obtained with a 4-tendon driven continuum robot. Moreover, tip deflection can be accurately estimated from the load and motor input which paves the way to possible compensation. All together, the experiments demonstrate the efficiency of the HTDCR with 450 g payload which makes it suitable in agricultural tasks such as fruit and vegetable harvesting.</p>\",\"PeriodicalId\":47597,\"journal\":{\"name\":\"Frontiers in Robotics and AI\",\"volume\":\"12 \",\"pages\":\"1576209\"},\"PeriodicalIF\":2.9000,\"publicationDate\":\"2025-05-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12116320/pdf/\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Frontiers in Robotics and AI\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3389/frobt.2025.1576209\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"2025/1/1 0:00:00\",\"PubModel\":\"eCollection\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Frontiers in Robotics and AI","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3389/frobt.2025.1576209","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/1/1 0:00:00","PubModel":"eCollection","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

肌腱驱动连续机器人通常由几个致动器和牵引柔性骨干的电缆组成。脊柱旁边的肌腱路径允许进行高度灵巧的复杂动作。然而,多个肌腱的集成增加了复杂性,并且缺乏刚性使得连续体机器人在施加外力或负载时容易受到扭转。本文提出了一种降低复杂性的混合肌腱驱动连续体机器人(HTDCR),以避免外部载荷下的不期望扭转。HTDCR的弯曲是通过单个肌腱实现的,骨干侧关节在弯曲面上起机械约束作用。一个旋转的基础,然后提供了一个额外的自由度,允许手臂的完全旋转。设计了基于常曲率模型的控制律机器人样机,并在不同载荷下对其进行了实验验证。弯曲面外的阀体偏差可以忽略不计(毫米范围),因此没有扭转变形。与四腱驱动连续体机器人相比,弯曲平面内的尖端挠度较小。此外,可以根据负载和电机输入准确地估计出尖端偏转,这为可能的补偿铺平了道路。总之,实验证明了HTDCR在450克有效载荷下的效率,使其适合于水果和蔬菜收获等农业任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A hybrid tendon-driven continuum robot that avoids torsion under external load.

Tendon-driven continuum robots usually consists of several actuators and cables pulling a flexible backbone. The tendon path alongside the backbone allows to perform complex movements with high dexterity. Yet, the integration of multiple tendons adds complexity and the lack of rigidity makes continuum robots susceptible to torsion whenever an external force or load is applied. This paper proposes a reduced complexity, hybrid tendon-driven continuum robot (HTDCR) that avoids undesired torsion under external load. Bending of the HTDCR is achieved from a single tendon with lateral joints alongside the backbone acting as mechanical constraint on the bending plane. A rotary base then provides an additional degree of freedom by allowing full rotation of the arm. We developed a robot prototype with control law based on a constant curvature model and validated it experimentally with various loads on the tip. Body deviation outside the bending plane is negligible (mm range), thereby demonstrating no torsional deformation. Tip deflection within the bending plane is smaller than the one obtained with a 4-tendon driven continuum robot. Moreover, tip deflection can be accurately estimated from the load and motor input which paves the way to possible compensation. All together, the experiments demonstrate the efficiency of the HTDCR with 450 g payload which makes it suitable in agricultural tasks such as fruit and vegetable harvesting.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
6.50
自引率
5.90%
发文量
355
审稿时长
14 weeks
期刊介绍: Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信