Three module lumped element model of a continuum arm section

In this paper, a section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). The model, although an approximation for a continuum structure, can be used to conveniently analyze the dynamics of the arm with selectable tradeoff in accuracy of modeling. Principles of lagrangian dynamics are used to derive the expressions for the generalized forces in the system. Simulation results using the model are compared with the physical measurements of a continuum arm prototype built using McKibben actuators. A brief discussion on how this relatively simple model can be more realizable when compared to other techniques of modeling continuum arms is also presented in the paper.

[1]  J. Bruce C. Davies,et al.  Continuum robots - a state of the art , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[2]  Shigeo Hirose,et al.  Biologically Inspired Robots , 1993 .

[3]  Ian D. Walker,et al.  Kinematics for multisection continuum robots , 2006, IEEE Transactions on Robotics.

[4]  J. Burdick,et al.  A Modal Approach to Hyper-Redundant , 1994 .

[5]  Hideyuki Tsukagoshi,et al.  Active Hose: an artificial elephant's nose with maneuverability for rescue operation , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[6]  Ian D. Walker,et al.  Kinematics for Constrained Continuum Robots Using Wavelet Decomposition , 2000 .

[7]  Leonard Meirovitch,et al.  Methods of analytical dynamics , 1970 .

[8]  H. Tanaka,et al.  Applying a flexible microactuator to robotic mechanisms , 1992, IEEE Control Systems.

[9]  Hiromi Mochiyama,et al.  Direct kinematics of manipulators with hyper degrees of freedom and Frenet-Serret formula , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[10]  Gregory S. Chirikjian,et al.  A modal approach to hyper-redundant manipulator kinematics , 1994, IEEE Trans. Robotics Autom..

[11]  Gregory S. Chirikjian,et al.  Hyper-redundant manipulator dynamics: a continuum approximation , 1994, Adv. Robotics.

[12]  Ian D. Walker,et al.  A novel 'elephant's trunk' robot , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[13]  Frédéric Boyer,et al.  Dynamic Modeling of a 3-D Serial Eel-Like Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[14]  Ian D. Walker,et al.  New dynamic models for planar extensible continuum robot manipulators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Christopher D. Rahn,et al.  Geometrically exact dynamic models for soft robotic manipulators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[16]  Nicolas Marchand,et al.  Motion Control of a Three-Dimensional Eel-like Robot Without Pectoral Fins , 2008 .

[17]  G. Yamaguchi,et al.  Feeding Motor Patterns in Anurans: Insights from Biomechanical Modeling , 2001 .

[18]  Tamar Flash,et al.  Dynamic model of the octopus arm. I. Biomechanics of the octopus reaching movement. , 2005, Journal of neurophysiology.

[19]  Ian D. Walker,et al.  Dynamic Modelling for Planar Extensible Continuum Robot Manipulators1 , 2009, Int. J. Robotics Autom..

[20]  N. Giri,et al.  Continuum robots and underactuated grasping , 2011 .

[21]  Ian D. Walker,et al.  Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots , 2003, J. Field Robotics.

[22]  Hiromi Mochiyama,et al.  Kinematics and dynamics of a cable-like hyper-flexible manipulator , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[23]  Na Li,et al.  The Dynamic Modeling of Snake-Like Robot by Using Nominal Mechanism Method , 2008, ICIRA.

[24]  Blake Hannaford,et al.  Measurement and modeling of McKibben pneumatic artificial muscles , 1996, IEEE Trans. Robotics Autom..