Wire-Driven Manipulator Guide Structure for Accurate Bending Control
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Solution Overview
Problem
The flexible members in existing continuum manipulators are not fixed to the spacer members, leading to shifting relative positions and impaired driving reproducibility, which affects the accuracy of controlling the manipulator's posture.
Innovation Solution
A wire-driven manipulator with flexible members connected to a distal end member and guide members, where some flexible members are fixed and others are slidable, allowing precise control of the bendable section through independent actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If flexible members are not fixed to spacer members and frictionally slide with respect to them, then the manipulator can be simpler in structure and easier to manufacture, but the relative positions of spacer members and flexible members change, impairing driving reproducibility and posture control accuracy
Solution Approach 1:
The manipulator is divided into modular units: flexible members, spacer members, and guide members. Each component performs a specific function, and the segmentation allows the flexible members to be independently controlled while maintaining stable relative positions through the guide members, resolving the contradiction between manufacturing simplicity and driving reproducibility
Solution Approach 2:
Guide members are introduced as intermediary components between the flexible members and spacer members. These guide members constrain the flexible members to slide along predetermined paths, preventing positional shifts while maintaining the friction-based actuation mechanism, thus preserving both ease of manufacture and driving reproducibility
2Device complexity
If flexible members are not fixed to spacer members, then the structure is simpler, but relative positions shift during actuation, causing errors in controlling the posture of the manipulator
Solution Approach 1:
Guide members serve as intermediary components that constrain the flexible members to slide along predetermined paths. This prevents positional shifts during actuation, ensuring accurate posture control without significantly increasing device complexity, as the guide members integrate smoothly with the existing modular structure
Solution Approach 2:
The system transitions from a static friction-based interface to a dynamic sliding interface guided by guide members. The guide members enable controlled movement along predetermined paths, maintaining posture control accuracy while allowing the flexible members to move dynamically during actuation
Data Source
AI summary
A wire-driven manipulator includes a plurality of flexible members, a drive unit configured to drive the plurality of flexible members, and at least one bendable portion including a distal end member and at least one guide member disposed nearer to the drive unit than the distal end member. The bendable portion is configured to be bent by driving the plurality of flexible members. The plurality of flexible members are connected to the distal end member. At least one of the plurality of flexible members is also connected to the guide member. The other of the plurality of flexible members is configured to be slidable with respect to the guide member.