Wire-Driven Continuum Robot Curvature Control for Narrow Spaces
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Solution Overview
Problem
Continuum robots with flexible structures face increased friction and potential damage when following sections with longer lengths than leading sections, leading to contact with obstructions in narrow spaces.
Innovation Solution
A wire-driven manipulator design with specific guide members and wire configurations, including fixed and slidable wires, allows for controlled bending sections with varying lengths, and a leader following control system that interpolates bending angles to minimize contact with obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the follower section has a longer length than the leading section, then the continuum robot can cover a longer distance, but the bending angle difference between sections increases causing contact with obstructions
Solution Approach 1:
The patent applies parameter changes by dynamically adjusting the bending angle of the follower section based on the length ratio between follower and leading sections. When the follower section is longer, the control system modifies the bending angle parameter to compensate for the increased length difference, preventing excessive bending that would cause contact with obstructions in narrow spaces.
2Adaptability or versatility
If continuous bending propagation is applied to unequal length sections, then the robot maintains flexibility, but friction increases due to bending angle differences
Solution Approach 1:
The control system changes the bending angle parameter for the follower section based on the length ratio, reducing the bending angle when the follower is longer than the leading section. This parameter adjustment maintains the continuous flexibility of the robot while reducing excessive bending that would increase friction and energy loss.
Data Source
AI summary
A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.