用于微创手术的缆驱动连续体机械手的动力学模型与控制。
Dynamic model and control for a cable-driven continuum manipulator used for minimally invasive surgery.
机构信息
School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou, Jiangsu Province, China.
School of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu Province, China.
出版信息
Int J Med Robot. 2021 Jun;17(3):e2234. doi: 10.1002/rcs.2234. Epub 2021 Mar 4.
BACKGROUND
Due to its unique flexible and dexterity, continuum robot has been widely used in small constrained environment. However, those advantages also bring that motion modelling and accurate control for the continuum robot is more complicated and tedious. A dynamic model and control strategy is presented for improving its control performance.
METHODS
The kinematics and velocity model of the robot are derived. The inertial force, elastic force, gravity and actuation force applied to the continuum robot are analysed. Meanwhile, the friction in drive system is investigated, and dynamic model is established by the Kane's method. Finally, a motion control strategy is proposed based on this model to verify the dynamic model.
RESULTS
Results of the simulation and experiment of a prototype verify the proposed model and its control method.
CONCLUSIONS
The proposed model and control strategy can be used to achieve the bending deformation of the robot.
背景
由于其独特的灵活性和敏捷性，连续体机器人已广泛应用于狭小受限的环境中。然而，这些优势也使得连续体机器人的运动建模和精确控制更加复杂和繁琐。提出了一种动态模型和控制策略，以提高其控制性能。
方法
推导了机器人的运动学和速度模型。分析了作用在连续体机器人上的惯性力、弹性力、重力和驱动力。同时，研究了驱动系统中的摩擦力，并通过凯恩方法建立了动力学模型。最后，提出了一种基于该模型的运动控制策略来验证动力学模型。
结果
原型机的仿真和实验结果验证了所提出的模型及其控制方法。
结论
所提出的模型和控制策略可用于实现机器人的弯曲变形。
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