Modeling, calibration, and evaluation of a tendon-actuated planar parallel continuum robot

verfasst von

Kathrin Nuelle, Tim Sterneck, Sven Lilge, Dezhu Xiong, Jessica Burgner-Kahrs, Tobias Ortmaier

Abstract

In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Externe Organisation(en)

University of Toronto

Typ

Artikel

Journal

IEEE Robotics and Automation Letters

Band

5

Seiten

5811-5818

Anzahl der Seiten

8

ISSN

2377-3766

Publikationsdatum

17.07.2020

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Biomedizintechnik, Mensch-Maschine-Interaktion, Maschinenbau, Maschinelles Sehen und Mustererkennung, Angewandte Informatik, Steuerung und Optimierung, Artificial intelligence

Elektronische Version(en)

https://doi.org/10.1109/LRA.2020.3010213 (Zugang: Geschlossen)