Continuum Robot Equilibrium Modulation for Precision Control
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Solution Overview
Problem
Current robotic systems face limitations in precision and resolution when controlling the movement and positioning of continuum robots, particularly in achieving fine-tuned adjustments and multi-scale motion through equilibrium modulation.
Innovation Solution
The implementation of a robotic system with a hollow tube backbone and an equilibrium modulation wire, where the linear insertion position of the wire adjusts the flexural rigidity of the tube, allowing for precise control of bending angles and positions by modulating the equilibrium pose of the robot's segments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic systems are used for continuum robot control, then basic positioning is achieved, but precision and resolution for fine-tuned adjustments are insufficient
Solution Approach 1:
The patent implements dynamic control by allowing the robot to transition between different equilibrium poses through modulation of internal forces. The system dynamically adjusts the configuration of the continuum robot by changing the forces applied to secondary backbones, enabling continuous and precise positioning adjustments without rigid mechanical structures.
Solution Approach 2:
The patent changes physical parameters of the system by modulating the forces applied to secondary backbones. By varying these internal forces, the system alters the equilibrium pose of the robot segments, achieving fine-tuned positioning control. This parameter modulation approach enables continuous adjustment of position and orientation with high precision.
2Adaptability or versatility
If single-scale motion control is used, then basic movement is achieved, but multi-scale motion adjustments for complex environments are limited
Solution Approach 1:
The patent segments the continuum robot into multiple segments with central and secondary backbones. Each segment can be independently controlled through force modulation, allowing different parts of the robot to operate at different scales. This segmentation enables the robot to perform both large-scale navigation movements and fine-scale manipulation tasks simultaneously.
Solution Approach 2:
The patent creates a universal control mechanism that handles both macro-scale navigation and micro-scale manipulation through the same force modulation approach. The equilibrium modulation technique provides multi-functionality, allowing the robot to adapt its motion scale based on task requirements without requiring separate control systems for different operational scales.
3Manufacturing precision
If fixed flexural rigidity is used in the backbone, then structural stability is maintained, but ability to modulate bending angles for precise control is reduced
Solution Approach 1:
The patent implements dynamic rigidity control by allowing the flexural properties of the backbone to change through force modulation. The system dynamically adjusts the effective stiffness of the backbone segments by varying internal forces, enabling precise bending angle control while maintaining structural integrity. This dynamic approach allows the robot to be stiff when needed for stability and flexible when needed for precise positioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables enhanced precision and control of continuum robots by allowing for macro-scale and micro-scale motion adjustments, improving the robot's ability to navigate complex environments and perform tasks with high accuracy.
Implementation Method 1
adjusting the linear insertion position of the equilibrium modulation wire changes a flexural rigidity of the hollow tube resulting in a change in the resulting bending angle of the robotic device
Implementation Method 2
adjusting an internal stored energy of at least one of the secondary backbones that causes a change in the flexural rigidity of the secondary backbone resulting in a change in the resulting bending angle
Data Source
AI summary
A robotic system, such as a continuum robot, that includes at least one hollow tube backbone and an equilibrium modulation wire at least partially positioned within the backbone. The robotic system is configured to adjust a position of an end effector by bending the hollow tube and to further adjust the position of the robotic device by adjusting a linear insertion position of the equilibrium modulation wire inside the hollow tube, wherein adjusting the linear insertion position of the equilibrium modulation wire changes a flexural rigidity of the hollow tube resulting in a change in the resulting bending angle of the robotic device.