Controlling Tendons to Modulate Stiffness of a Planar-to-Spatial Tendon-Driven Continuum Manipulator Under External Uncertain Forces  

作　　者：Vipin Pachouri Pushparaj Mani Pathak 

机构地区：[1]Indian Institute of Technology Roorkee,Roorkee,247667,India

出　　处：《Journal of Bionic Engineering》2024年第2期821-841,共21页仿生工程学报（英文版）

摘　　要：Continuum manipulators(CM)are soft and flexible manipulators with large numbers of degrees of freedom and can perform complex tasks in an unstructured environment.However,their deformability and compliance can deviate distal tip under uncertain external interactions.To address this challenge,a novel tension-based control scheme has been proposed to modulate the stiffness of a tendon-driven CM,reducing the tip position errors caused by uncertain external forces.To minimize the tip position error,a virtual spring is positioned between the deviated and the desired tip positions.The proposed algorithm corrects the manipulator deviated tip position,improving tension distribution and stiffness profile,resulting in higher stiffness and better performance.The corresponding task space stiffness and condition numbers are also computed under different cases,indicating the effectiveness of the tension control scheme in modulating the manipulator's stiffness.Experimental validation conducted on an in-house developed prototype confirms the practical feasibility of the proposed approach.

关 键 词：Continuum arm Hyper-redundant robots Variable stiffness manipulator Tension-based control Mechatronic systems 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]