Constant Curvature Kinematic Model Analysis and Experimental Validation for Tendon Driven Continuum Manipulators

摘要

In this paper an analysis is done to the current kinematic model for continuum robot, with the goal of determining the accuracy of the experimental validation of the constant curvature kinematic model to establish a relation between the mathematical model and continuum robot, and its feasibility of applying for any type of continuum structure, measuring the end effector planar trajectory based on the displacement of passive cables located along the structure. To test the kinematic model, a prototype of continuous robot composed of 1 segment with 7 sections, controlled by 3 cables, per section was fabricated, we also propose a modular segment (link) with free joints, the modularity allows to extend the length of the segment and also allows to add segments and connect in the form of serial chain and describe the radius of concave and/or convex curvature and allow the robot manipulator to follow different trajectories and displacements in their workspace. The kinematic model of constant curvature used in continuous robots with minimal positioning errors was implemented and tested.