Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges

Ma, N. and Cheneler, D. and Monk, S.D. (2024) Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges. Heliyon, 10 (4): e26144. e26144. ISSN 2405-8440

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Abstract

Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.

Item Type:
Journal Article
Journal or Publication Title:
Heliyon
Uncontrolled Keywords:
Research Output Funding/yes_externally_funded
Subjects:
?? continuum robotdual-arm cooperationunderwater sample retrievalparallel mechanismyes - externally fundedgeneral ??
ID Code:
214617
Deposited By:
Deposited On:
13 Feb 2024 09:15
Refereed?:
Yes
Published?:
Published
Last Modified:
16 Jul 2024 00:53