Kinematics and Manipulability Analysis of a Highly Articulated Soft Robotic Manipulator

摘要

Recently, the idea of applying "jamming" of appropriate media has been exploited for a novel continuum robot design. It is completed by applying vacuum in a robot structure filled with granular media. The backbone deformation and motion are achieved by controlling the fluid pressure. A jammable robotic manipulator does not certainly follow constant curvature during bending, that is, gravitational loads cause section sag. The kinematics describes the deformation of continuum manipulators. This formulation is expected to facilitate additional synthesis and analysis on workspace. This paper presents a Jacobian-based approach to obtain the forward kinematics solution. The proposed kinematic formulation in this paper tries to combine the key advantages of the techniques in constant curvature and variable curvature models. Hence, the deformation of any arbitrary bending is modeled. The workspace synthesis is continued by kinematic analysis, and in this regard, the manipulability measure is computed. This is an important improvement when compared with existing work for this kind of manipulators. It shows how manipulability measure can determine the workspace quality, where usually reachability is used for robot's capabilities representation. As a result, the forward kinematics and manipulability analysis based on a piecewise-constant-curvature approximation are discussed in the simulation. The simulation has been carried out according to the fabricated experimental robot.