Continuum Robot Control for Narrow Space Navigation
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Solution Overview
Problem
Continuum robots face challenges in advancing through small and narrow spaces without contacting fragile elements due to increased friction and the likelihood of breaking, especially when performing 'look-around' motions with image-capturing devices at the distal end.
Innovation Solution
A robotic apparatus with a continuum robot comprising multiple bending sections, where the distal section performs a rotational motion of 360 degrees or more, and the proximal section follows while preventing similar rotation, using modular arithmetic to calculate and control bending angles to avoid unnecessary contact with external elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the proximal bending section continuously propagates the bending shape of the distal bending section, then the continuum robot can advance through narrow spaces, but the proximal section performs unnecessary rotational motion of 360 degrees or more which increases friction and contact with external elements
Solution Approach 1:
The patent applies the copying principle by creating a modified version of the distal bending section's motion pattern for the proximal section. Instead of directly copying the rotational motion including full 360-degree rotations, the system copies only the essential bending pattern while eliminating redundant rotations. This is achieved through the controller that calculates equivalent rotational angles by subtracting multiples of 360 degrees, thereby reproducing the necessary motion without the harmful full rotations that increase friction and contact with external elements.
2Adaptability or versatility
If the distal bending section performs rotational motion of 360 degrees or more for look-around function, then the image-capturing device can survey the environment, but the proximal bending section follows with similar rotation causing increased friction and likelihood of breaking
Solution Approach 1:
The patent applies the extraction principle by separating the look-around function from the propagation control. The distal bending section performs full 360-degree or more rotational motions to enable the image-capturing device to survey the environment. However, when propagating this motion to the proximal bending section, the system extracts only the essential bending pattern while removing the redundant full rotations. This is achieved by the controller calculating equivalent rotational angles (subtracting multiples of 360 degrees), thereby maintaining the look-around capability at the distal end while preventing the proximal section from performing harmful full rotations that increase friction and breaking risk.
3Speed
If the continuum robot maintains continuous bending shape propagation for smooth movement, then the robot can navigate curves effectively, but friction increases due to normal force with obstacles in narrow spaces
Solution Approach 1:
The patent applies the copying principle by creating an optimized reproduction of the distal bending section's motion pattern for the proximal section. The system copies the essential bending pattern that enables smooth navigation through curves, while simultaneously eliminating redundant rotational motions. The controller calculates equivalent rotational angles by subtracting multiples of 360 degrees from the distal section's rotation, thereby reproducing the necessary curved movement without the energy-wasting full rotations that increase normal force and friction with obstacles in narrow spaces.
Data Source
AI summary
A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.