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...

Descripción completa

Detalles Bibliográficos
Autores principales: Childs, Jake A., Rucker, Caleb
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