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An analytical tension model for continuum robots with n generally positioned tendons
journal contribution
posted on 2019-09-01, 00:00 authored by Mohsen Moradi DalvandMohsen Moradi Dalvand, Saeid Nahavandi, R D HoweThe estimation of tension loads in multi-tendon continuum robots or catheters plays an important role not only in the design process but also in the control algorithm to avoid slack. An analytical tension loading model is developed that, for any given beam configuration within the workspace, calculates tendon tensions in [Formula: see text]-tendon continuum robots with general tendon positioning. The model accounts for the bending and axial compliance of the manipulator as well as tendon compliance. A 6-tendon continuum robot integrated with a stereo vision-based 3D reconstruction system is utilized to experimentally validate the proposed analytical model in open-loop control architecture. The proposed model demonstrates around 95% accuracy in estimating tendon tensions in a continuum robot with general tendon positioning and axial stretch in its tendons for all of the trials and experiments.
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Journal
Journal of Medical Robotics ResearchVolume
4Issue
3-4Publisher
World Scientific PublishingLocation
SingaporePublisher DOI
ISSN
2424-9068eISSN
2424-9068Language
engPublication classification
C1 Refereed article in a scholarly journalUsage metrics
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