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A Sliding-rod Variable-strain Model for Concentric Tube Robots

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posted on 05.11.2020, 23:57 by Federico Renda, Conor Messer, Frédéric Boyer
In this work, the Piecewise Variable-strain (PVS) approach is applied to the case of Concentric Tube Robots (CTRs) and extended to include the tubes’ sliding motion. In particular, the currently accepted continuous Cosserat rod model is discretized onto a finite set of strain basis functions. At the same time, the insertion and rotation motions of the tubes are included as generalized coordinates instead of boundary kinematic conditions. Doing so, we obtain a minimum set of closed-form algebraic equations that can be solved not only for the shape variables but also for the actuation forces and torques for the first time. This new approach opens the way to torque-controlled CTRs, which is poised to enhance elastic stability and improve interaction forces’ control at the end-effector.

Funding

Khalifa University of Science and Technology under Award No. FSU-2018-08

Khalifa University of Science and Technology under Award No. RC2-2018-HEIC

Khalifa University of Science and Technology under Award No. CIRA-2020-074

ADEK Award for Research Excellence (AARE-2018-105).

History

Email Address of Submitting Author

federico.renda@ku.ac.ae

ORCID of Submitting Author

0000-0002-1833-9809

Submitting Author's Institution

Khalifa University of Science and Technology

Submitting Author's Country

United Arab Emirates

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