Cosserat Rod Model for Continuum Robot Tip Error Reduction
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Solution Overview
Problem
Existing continuum robots have a limited range of motion due to their design, which restricts their usefulness in applications requiring complex trajectories and compliant contact with environments, especially in cluttered spaces.
Innovation Solution
A new Cosserat rod-based model that accounts for distributed tendon wrenches and allows for non-straight tendon routing paths, providing a geometrically exact description of tendon loads and expanding the design space for tendon-actuated robots, enabling more versatile shapes and control techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rigid link robots are used, then structural simplicity is maintained, but the range of motion and ability to reach complex trajectories in cluttered environments is limited
Solution Approach 1:
The patent employs flexible continuum structures with embedded tendons that allow the robot to bend and conform to complex trajectories. The flexible backbone with integrated tendon routing enables continuous curvature changes while maintaining structural integrity, resolving the contradiction between adaptability and structural complexity.
Solution Approach 2:
The continuum robot is divided into multiple segments or sections along its length, with tendons routed through each segment. This segmentation allows independent control of different regions while maintaining overall flexibility, enabling complex motion patterns without requiring a completely flexible structure throughout.
2Adaptability or versatility
If existing continuum robot designs are used, then flexibility and compliant contact capability are achieved, but the range of motion remains limited
Solution Approach 1:
The patent implements dynamic tendon routing where the tendon paths are not fixed but can be adjusted during operation. This allows the robot to optimize its configuration for different tasks, expanding the effective workspace while maintaining manufacturing precision through active control compensation.
Solution Approach 2:
The robot utilizes variable curvature sections where the bending radius can be dynamically changed by adjusting tendon tensions. This parameter variation allows the same physical structure to achieve multiple configurations and extend the range of motion beyond what fixed-geometry designs can provide.
Data Source
AI summary
Continuum robots and similar devices and methods and systems for controlling such devices are provided. The devices can include rods comprising strips, that are pre-curved, or both. Also provided is a system and method for modeling and controlling the configuration and operation of such devices.