Continuum Robot Wire Control to Prevent Curvature Interference
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Solution Overview
Problem
Continuum robots face the challenge of preventing contact between the reference surface and the proximal end of the wire guide when curving, which can lead to mechanical interference and affect their operational precision, especially in narrow spaces and medical applications.
Innovation Solution
A continuum robot control system that calculates the drive displacement of wires based on target curve and rotation angles, using a kinematic model to determine whether to drive the wires and adjust their displacement to avoid contact with the proximal end of the wire guide, thereby preventing mechanical interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the curvable portion is driven by wire displacement to achieve target curve and rotation angles, then the robot can reach desired positions and orientations, but contact may occur between the reference surface and the closest member of the curvable portion causing mechanical interference
Solution Approach 1:
The control system calculates the distance between the reference surface and the proximal end of the wire guide before executing wire drive, and determines whether drive should be performed based on this pre-calculated distance information, preventing mechanical interference before it occurs
Solution Approach 2:
The system continuously monitors the distance between the reference surface and wire guide components, using this feedback information to dynamically adjust or cancel wire drive commands, ensuring safe operation while achieving positioning goals
2Device complexity
If wire drive control is implemented without distance verification, then the control system is simpler, but mechanical interference occurs between components
Solution Approach 1:
The control unit performs a preliminary check of distance information before initiating wire drive, using a simple distance comparison threshold to determine whether drive is safe, adding minimal complexity while preventing interference
Solution Approach 2:
The distance information calculation unit acts as an intermediary between the control input and wire drive execution, providing a simple distance verification layer that prevents mechanical interference without significantly complicating the control architecture
Data Source
AI summary
A kinematic model arithmetic portion calculates a coordinate value (ze1 (θe)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.