Abstract
Modular manipulators have broad application prospects in the field of narrow confined space owing to their characteristics of superior dexterity. However, compared with traditional ones, their mechanism design, modeling, and inverse kinematics (IK) are challenging due to their special structures and redundant degrees-of-freedom. In this paper, a modular cable-driven manipulator (CDM) is designed. A lightweight and expandable structure is proposed to reduce weight of the whole manipulator and improve its environmental adaptability. To calibrate its global posture, angle sensors are equipped with its joints. Its kinematics are rigorously analyzed. To obtain the IK of a hyper-redundant CDM in real-time, a fast heuristic method with adaptive joint constraints is introduced. Then, a segmented IK strategy is proposed by extending the IK solver to local CDM, which realizes the local joint migration motion under the stable overall configuration. Finally, numerical simulations are conducted and a physical prototype is developed to carry out experiments. The results show that the designed CDM has great performance in dexterity and accuracy.
Issue Section:
Special Section: Reconfigurable Mechanisms and Robotics
References
1.
Du
, Z.
, Ouyang
, G.
, Xue
, J.
, and Yao
, Y.
, 2020
, “A Review on Kinematic, Workspace, Trajectory Planning and Path Planning of Hyper-Redundant Manipulators
,” IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems
, Xi'an, China
, Oct. 10–13
, pp. 444
–449
.2.
Walker
, I.
, Choset
, H.
, and Chirikjian
, G.
, 2016
, “Snake-Like and Continuum Robots,” Springer Handbook of Robotics
, B.
Siciliano
, and O.
Khatib
, eds., Springer, Cham
, Switzerland
.3.
Hwang
, M.
, and Kwon
, D.
, 2020
, “K-flex: A Flexible Robotic Platform for Scar-Free Endoscopic Surgery
,” Int. J. Med. Robot. Comput. Assist. Surg.
, 16
(2
), p. e2078
.4.
Mu
, Z.
, Liu
, T.
, Xu
, W.
, Lou
, Y.
, and Liang
, B.
, 2019
, “Dynamic Feedforward Control of Spatial Cable-Driven Hyper-Redundant Manipulators for On-Orbit Servicing
,” Robotica
, 37
(1
), pp. 18
–38
. 5.
Buckingham
, R.
, and Graham
, A.
, 2010
, “Dexterous Manipulators for Nuclear Inspection and Maintenance-Case Study
,” IEEE International Conference on Applied Robotics for the Power Industry
, Montreal, QC, Canada
, Oct. 5–7
, pp. 1
–6
.6.
Webster
, R.
, and Jones
, B.
, 2010
, “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
,” Int. J. Robot. Res.
, 29
(13
), pp. 1661
–1683
. 7.
Wang
, M.
, Dong
, X.
, Ba
, W.
, Mohammad
, A.
, Axinte
, D.
, and Norton
, A.
, 2021
, “Design, Modelling and Validation of a Novel Extra Slender Continuum Robot for In-Situ Inspection and Repair in Aeroengine
,” Robot. Comput. Integr. Manuf.
, 67
, p. 102054
. 8.
Clark
, A. B.
, Mathivannan
, V.
, and Rojas
, N.
, 2020
, “A Continuum Manipulator for Open-Source Surgical Robotics Research and Shared Development
,” IEEE Trans. Med. Robot. Bionics
, 3
(1
), pp. 277
–280
. 9.
Kim
, J.
, Kwon
, S.
, Moon
, Y.
, and Kim
, K.
, 2021
, “Cable-Movable Rolling Joint to Expand Workspace Under High External Load in a Hyper-Redundant Manipulator
,” IEEE/ASME Trans. Mechatron.
, 27
(1
), pp. 501
–512
.10.
Kim
, J.
, Kwon
, S.
, Moon
, Y.
, and Kim
, K.
, 1999
, “Continuum Robots—A State of the Art
,” IEEE International Conference on Robotics and Automation
, Detroit, MI
, May. 10–15
, pp. 2849
–2854
.11.
Yang
, C.
, Geng
, S.
, Walker
, I.
, Branson
, D.
, Liu
, J.
, Dai
, J.
, and Kang
, R.
, 2020
, “Geometric Constraint-Based Modeling and Analysis of a Novel Continuum Robot With Shape Memory Alloy Initiated Variable Stiffness
,” Int. J. Robot. Res.
, 39
(14
), pp. 1620
–1634
. 12.
Yeshmukhametov
, A.
, Koganezawa
, K.
, and Yamamoto
, Y.
, 2019
, “A Novel Discrete Wire-Driven Continuum Robot Arm With Passive Sliding Disc: Design, Kinematics and Passive Tension Control
,” Robotics
, 8
(3
), p. 51
. 13.
Neppalli
, S.
, and Jones
, B. A.
, 2007
, “Design, Construction, and Analysis of a Continuum Robot
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
, San Diego, CA
, Oct. 29–Nov. 2
.14.
Trivedi
, D.
, Rahn
, C.
, and Walker
, W. K. I.
, 2008
, “Soft Robotics: Biological Inspiration, State of the Art, and Future Research
,” Appl. Bionics Biomech.
, 5
(3
), pp. 99
–117
. 15.
Martín-Barrio
, A.
, Roldán-Gómez
, J.
, Rodríguez
, I.
, Cerro
, J. D.
, and Barrientos
, A.
, 2020
, “Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
,” Sensors
, 20
(8
), p. 2181
. 16.
Liu
, T.
, Xu
, W.
, Yang
, T.
, and Li
, Y.
, 2020
, “A Hybrid Active and Passive Cable-Driven Segmented Redundant Manipulator: Design, Kinematics, and Planning
,” IEEE/ASME Trans. Mechatron.
, 26
(2
), pp. 930
–942
. 17.
Liu
, T.
, Mu
, Z.
, Xu
, W.
, Yang
, T.
, You
, K.
, Fu
, H.
, and Li
, Y.
, 2019
, “Improved Mechanical Design and Simplified Motion Planning of Hybrid Active and Passive Cable-Driven Segmented Manipulator With Coupled Motion
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
, Macau, China
, Nov. 3–8
, pp. 5978
–5983
.18.
Shikari
, A.
, and Asada
, H.
, 2018
, “Triple Scissor Extender Robot Arm: A Solution to the Last One Foot Problem of Manipulation
,” IEEE Rob. Autom. Lett.
, 3
(4
), pp. 3975
–3982
. 19.
Hariharan
, A.
, and Raúl
, O.
, 2015
, “Real-Time Inverse Kinematics of (2n + 1) Dof Hyper-Redundant Manipulator Arm Via a Combined Numerical and Analytical Approach
,” Mech. Mach. Theory
, 91
, pp. 209
–226
. 20.
Zhang
, Z.
, Kong
, L.
, Yan
, Z.
, Chen
, K.
, Li
, S.
, Qu
, X.
, and Tan
, N.
, 2018
, “Comparisons Among Six Numerical Methods for Solving Repetitive Motion Planning of Redundant Robot Manipulators
,” IEEE International Conference on Robotics and Biomimetics
, Kuala Lumpur, Malaysia
, Dec. 12–15
, pp. 1645
–1652
.21.
Chirikjian
, G.
, and Burdick
, J.
, 1994
, “A Modal Approach to Hyper-Redundant Manipulator Kinematics
,” IEEE Trans. Rob. Autom.
, 10
(3
), pp. 343
–354
. 22.
Wang
, Z.
, Chang
, J.
, Li
, B.
, Wang
, C.
, and Liu
, C.
, 2020
, “Kinematics Solution of Snake-Like Manipulator Based on Improved Backbone Mode Method
,” IEEE International Conference on Mechatronics and Automation
, Beijing, China
, Oct. 13–16
, pp. 1774
–1779
.23.
Tang
, L.
, Zhu
, L.
, Zhu
, X.
, and Gu
, G.
, 2018
, “A Serpentine Curve Based Motion Planning Method for Cable-Driven Snake Robots
,” IEEE International Conference on Mechatronics and Machine Vision in Practice
, Stuttgart, Germany
, Nov. 20–22
, pp. 1
–6
.24.
Mu
, Z.
, Yuan
, H.
, Xu
, W.
, Liu
, T.
, and Liang
, B.
, 2018
, “A Segmented Geometry Method for Kinematics and Configuration Planning of Spatial Hyper-Redundant Manipulators
,” IEEE Trans. Syst. Man Cybernet.: Syst.
, 50
(5
), pp. 1746
–1756
. 25.
Aristidou
, A.
, and Lasenby
, J.
, 2011
, “Fabrik: A Fast, Iterative Solver for the Inverse Kinematics Problem
,” Graph. Models
, 73
(5
), pp. 243
–260
. 26.
Liu
, T.
, Yang
, T.
, Xu
, W.
, Mylonas
, G.
, and Liang
, B.
, 2021
, “Efficient Inverse Kinematics and Planning of a Hybrid Active and Passive Cable-Driven Segmented Manipulator
,” IEEE Trans. Syst. Man Cybern.: Syst.
, pp. 1
–14
.27.
Wang
, J.
, Tang
, L.
, Gu
, G.
, and Zhu
, X.
, 2018
, “Tip-Following Path Planning and Its Performance Analysis for Hyper-Redundant Manipulators
,” J. Mech. Eng.
, 54
(3
), pp. 18
–25
.28.
Ortenzi
, V.
, Marturi
, N.
, Rajasekaran
, V.
, Adjigble
, M.
, and Stolkin
, R.
, 2019
, “Singularity-Robust Inverse Kinematics Solver for Tele-manipulation
,” IEEE International Conference on Automation Science and Engineering
, Vancouver, BC, Canada
, Aug. 22–26
, pp. 1821
–1828
.29.
Li
, C.
, Wu
, Y.
, Löwe
, H.
, and Li
, Z.
, 2016
, “Poe-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model
,” IEEE Trans. Robot.
, 32
(5
), pp. 1264
–1279
. 30.
Cao
, Y.
, Lu
, K.
, Li
, X.
, and Zang
, Y.
, 2011
, “Accurate Numerical Methods for Computing 2d and 3d Robot Workspace
,” Int. J. Adv. Robot. Syst.
, 8
(6
), p. 76
. 31.
Yu
, N.
, Zou
, W.
, Tan
, W.
, and Yang
, Z.
, 2017
, “Augmented Virtual Stiffness Rendering of a Cable-Driven Sea for Human–Robot Interaction
,” IEEE/CAA J. Autom. Sin.
, 4
(4
), pp. 714
–723
. 32.
Zhang
, D.
, Yuan
, H.
, and Cao
, Z.
, 2020
, “Environmental Adaptive Control of a Snake-Like Robot With Variable Stiffness Actuators
,” IEEE/CAA J. Autom. Sin.
, 7
(3
), pp. 745
–751
. 33.
Cao
, Z.
, Zhang
, D.
, and Zhou
, M.
, 2021
, “Direction Control and Adaptive Path Following of 3-d Snake-Like Robot Motion
,” IEEE Trans. Cybern.
, pp. 1
–8
.34.
Gong
, D.
, Wang
, P.
, Zhao
, S.
, Du
, L.
, and Duan
, Y.
, 2017
, “Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom
,” IEEE/CAA J. Autom. Sin.
, 5
(1
), pp. 382
–388
. Copyright © 2022 by ASME
You do not currently have access to this content.
