提出可通用建模多管多绳驱动的腱驱同心管机器人的力学框架。
A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons
- 基于柯西杆理论构建多管多绳系统通用模型，支持每管扭转伸缩
- 实验验证误差小于总长4%，跨结构应用偏差约5%
- 适用于复杂构型机器人设计与控制，适合医疗微创手术场景
腱驱动连续体机器人结合了腱驱动连续机器人和同心管机器人的优势，同时克服了各自局限。这类系统克服了传统腱驱动设计自由度受限的问题，并缓解了同心管机器人常见的断裂不稳定性。然而，针对此类系统的完整通用力学模型仍属空白。本文提出一种基于柯西杆理论的通用框架，可建模 n 根同心管、每根管由 m_i 根腱驱动（i = {1, ..., n}）的情况。模型允许每根管发生扭转和伸缩，同时保证弯曲时共享中心线。通过两管和三管结构在多种腱路由配置下的实验验证，末端位置预测误差低于机器人总长度的4%。进一步将模型应用于现有机器人，最大末端偏差维持在总长度的5%左右。该模型为先进腱驱动同心管机器人的精确形变估计与控制提供了基础。
原文摘要 · Abstract (English)
Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated with concentric tube robots. However, a complete and general mechanical model for these systems remains an open problem. In this work, we propose a Cosserat rod-based framework for modeling the general case of $n$ concentric tubes, each actuated by $m_i$ tendons, where $i = \{1, \ldots, n\}$. The model allows each tube to twist and elongate while enforcing a shared centerline for bending. We validate the proposed framework through experiments with two-tube and three tube assemblies under various tendon routing configurations, achieving tip prediction errors $<4\%$ of the robot's total length. We further demonstrate the model's generality by applying it to existing robots in the field, where maximum tip deviations remain around $5\%$ of the total length. This model provides a foundation for accurate shape estimation and control of advanced tendon-actuated concentric tube robots.
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