1 Department of Electronic Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, United Kingdom.
2 Fakulti Kejuruteraan dan Alam Bina, Centre for Integrated Systems Engineering and Advanced Technologies (Integra), Universiti Kebangsaan Malaysia, Bangi, Malaysia.
Soft Robot. 2019 Jun;6(3):305-317. doi: 10.1089/soro.2018.0032. Epub 2019 Mar 27.
Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific interest to explore the potential of soft continuum robots for minimally invasive surgery. However, the remote control of soft robots is much more challenging compared with their rigid counterparts. Accurate modeling of manipulator dynamics is vital to remotely control the diverse movement configurations and is particularly important for safe interaction with the operating environment. However, current dynamic models applied to soft manipulator systems are simplistic and empirical, which restricts the full potential of the new soft robots technology. Therefore, this article provides a new insight into the development of a nonlinear dynamic model for a soft continuum manipulator based on a material model. The continuum manipulator used in this study is treated as a composite material and a modified nonlinear Kelvin-Voigt material model is utilized to embody the visco-hyperelastic dynamics of soft silicone. The Lagrangian approach is applied to derive the equation of motion of the manipulator. Simulation and experimental results prove that this material modeling approach sufficiently captures the nonlinear time- and rate-dependent behavior of a soft manipulator. Material model-based closed-loop trajectory control was implemented to further validate the feasibility of the derived model and increase the performance of the overall system.
机器人辅助手术在全球范围内越来越受欢迎，人们越来越有兴趣探索软连续体机器人在微创手术中的潜力。然而，与刚性机器人相比，软机器人的远程控制具有更大的挑战性。操纵器动力学的精确建模对于远程控制各种运动配置至关重要，对于与操作环境的安全交互尤其重要。然而，当前应用于软机械手系统的动力学模型过于简单和经验化，这限制了新型软机器人技术的全部潜力。因此，本文提供了一种新的视角，即基于材料模型为软连续体机械手开发非线性动力学模型。本研究中使用的连续体机械手被视为复合材料，并利用改进的非线性开尔文-伏尔特材料模型来体现软硅酮的粘弹性动力学。应用拉格朗日方法推导出机械手的运动方程。仿真和实验结果证明，这种材料建模方法充分捕捉了软机械手的非线性时变和率相关行为。基于材料模型的闭环轨迹控制的实现进一步验证了所推导模型的可行性，并提高了整个系统的性能。
