Cargando…
Leveraging Geometry to Enable High-Strength Continuum Robots
Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone desig...
Autores principales: | , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7930011/ https://www.ncbi.nlm.nih.gov/pubmed/33681300 http://dx.doi.org/10.3389/frobt.2021.629871 |
_version_ | 1783660023961878528 |
---|---|
author | Childs, Jake A. Rucker, Caleb |
author_facet | Childs, Jake A. Rucker, Caleb |
author_sort | Childs, Jake A. |
collection | PubMed |
description | Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices. |
format | Online Article Text |
id | pubmed-7930011 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-79300112021-03-05 Leveraging Geometry to Enable High-Strength Continuum Robots Childs, Jake A. Rucker, Caleb Front Robot AI Robotics and AI Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices. Frontiers Media S.A. 2021-02-18 /pmc/articles/PMC7930011/ /pubmed/33681300 http://dx.doi.org/10.3389/frobt.2021.629871 Text en Copyright © 2021 Childs and Rucker. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Childs, Jake A. Rucker, Caleb Leveraging Geometry to Enable High-Strength Continuum Robots |
title | Leveraging Geometry to Enable High-Strength Continuum Robots |
title_full | Leveraging Geometry to Enable High-Strength Continuum Robots |
title_fullStr | Leveraging Geometry to Enable High-Strength Continuum Robots |
title_full_unstemmed | Leveraging Geometry to Enable High-Strength Continuum Robots |
title_short | Leveraging Geometry to Enable High-Strength Continuum Robots |
title_sort | leveraging geometry to enable high-strength continuum robots |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7930011/ https://www.ncbi.nlm.nih.gov/pubmed/33681300 http://dx.doi.org/10.3389/frobt.2021.629871 |
work_keys_str_mv | AT childsjakea leveraginggeometrytoenablehighstrengthcontinuumrobots AT ruckercaleb leveraginggeometrytoenablehighstrengthcontinuumrobots |