高刚性柔性机械臂实现双侧灵巧操作，适合微创手术
Ultra-slender Coaxial Antagonistic Tubular Robot for Ambidextrous Manipulation
- 双金属管反向结构设计，轴向驱动实现高精度弯曲
- 实测刚度提升显著，同等尺寸下优于传统连续型机械臂
- 专为微创手术优化，兼具柔韧与稳定，适合精密操作
由于软体连续型机械臂在狭窄非结构空间中具备优异的柔顺性和灵活性，但其低刚度和有限灵巧性限制了实际应用。为此，本文提出一种新型非对称同轴拮抗管状机器人（CATR）臂，其末端通过两个偏置180°的金属管结构，在另一端施加轴向驱动力以实现形变。精心设计的可转向段与全柔性段相结合，使机械臂兼具高灵巧性与高刚度。基于几何与静力学建立单段基本静力学模型，并采用约束优化算法求解给定任务配置下的驱动输入。此外，针对管表面开槽图案提出了系统设计理论，兼顾弯曲角度与刚度性能。实验表明，该机器人在灵巧性与刚度方面均优于同等尺寸的连续型机器人，且在微创手术中展现出良好应用潜力。
原文摘要 · Abstract (English)
As soft continuum manipulators characterize terrific compliance and maneuverability in narrow unstructured space, low stiffness and limited dexterity are two obvious shortcomings in practical applications. To address the issues, a novel asymmetric coaxial antagonistic tubular robot (CATR) arm with high stiffness has been proposed, where two asymmetrically patterned metal tubes were fixed at the tip end with a shift angle of 180° and axial actuation force at the other end deforms the tube. Delicately designed and optimized steerable section and fully compliant section enable the soft manipulator high dexterity and stiffness. The basic kinetostatics model of a single segment was established on the basis of geometric and statics, and constrained optimization algorithm promotes finding the actuation inputs for a given desired task configuration. In addition, we have specifically built the design theory for the slits patterned on the tube surface, taking both bending angle and stiffness into account. Experiments demonstrate that the proposed robot arm is dexterous and has greater stiffness compared with same-size continuum robots. Furthermore, experiments also showcase the potential in minimally invasive surgery.
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