通过旋转盘片重新布线缆绳，实现机械臂局部弯曲变形。
Rotate Disks to Reach Farther: Design and Modeling of a Novel Reconfigurable Tendon Driven Manipulator
- 用可旋转中间盘片动态改变缆绳路径，控制形变。
- 实测末端误差低于3%，计算速度比现有方法快10倍。
- 适合需要灵活变形的手术或巡检机器人应用。
在缆绳驱动连续体机械臂中，改变缆绳路径可实现多种变形模式。本文提出一种可重构缆绳驱动机械臂设计，通过独立旋转中间隔板盘片，实现局部缆绳路径重布，从而产生非平凡的主干空间形变。提出两种设计方案：(a) 手动盘片锁紧（MDL）和 (b) 连续盘片转子（CDR），分别在操作前与操作中实现盘片旋转。基于分段恒定应变假设，构建了一个基于势能最小化的预测静态模型，包含：(a) 盘片旋转、(b) 盘段间离散缆绳路径、(c) 隔板刚性厚度、(d) 缆绳弹性。模型经实验验证，在平行缆绳布局下平均末端误差为总长度的1.2%，多盘旋转时约为3%。计算时间比当前最先进的柯西拉杆求解器低一个数量级。
原文摘要 · Abstract (English)
Rerouting the tendon path in tendon driven continuum manipulators (TDCMs) enables a broad range of deformation modes. This work presents a Reconfigurable TDCM design which allows independent rotation of intermediate spacer disks, thereby locally rerouting the tendon and achieving non-trivial backbone spatial deformations. Two such designs, (a) Manual Disk Locked (MDL) and (b) Continuous Disk Rotor (CDR) manipulators are presented to achieve disk rotations before and during operation, respectively. A predictive static model based on the piecewise constant strain (PCS) assumption is developed within a potential energy minimization framework, incorporating (a) disk rotations, (b) discrete tendon paths between disk segments, (c) rigid thickness of spacer disks, and (d) elasticity of the tendons. The model is validated against experimental results, demonstrating an average tip error of $1.2\%$ of the manipulator's total length for parallel tendon routing and around $3\%$ for the case when multiple disks are rotated. The computation time is an order of magnitude lower than the state of the art Cosserat rod solver.
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