Hysteresis analysis of a notched continuum manipulator driven by tendon

Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based o...

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Bibliographic Details
Published in:Mechanical sciences (Göttingen) 2018-06, Vol.9 (1), p.211-219
Main Authors: Yu, Hong-Jian, Yang, Wen-Long, Yang, Zheng-Xin, Dong, Wei, Du, Zhi-Jiang, Yan, Zhi-Yuan
Format: Article
Language:English
Subjects:
Deformation mechanisms
Elastic deformation
Friction
Genetic algorithms
Hysteresis (Physics)
Hysteresis models
Intermetallic compounds
Kinematics
Manipulators
Mathematical models
Mechanical properties
Mechanics
Model accuracy
Modelling
Modulus of elasticity
Nickel titanides
Nitinol alloys
Parameter identification
Researchers
Robot arms
Shape memory alloys
Tendons
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Summary:Continuum manipulators are widely used in minimally invasive surgical robot systems (MISRS) because of their flexibility and compliance, while their modelling and control are relatively difficult and complex. This paper proposes an improved hysteresis model of a notched continuum manipulator based on the classical Bouc–Wen model, which can reduce errors and increase the accuracy of the kinematic-mechanics coupled model. Then parameters are identified by the mean of genetic algorithm (GA). Hysteresis phenomenon of the mentioned manipulator is actually caused by many factors such as the hysteresis property of Hyperelastic Nitinol Alloy (HNA), the elastic deformation of tendon and the friction between the tendon and the tube. The results of both static and dynamic experiments show that the introduced hysteresis model can eliminate the positional difference between forward and reverse bending processes, and thus improve the forecast precision of deformation during motion. This model can also be used to compensate modelling errors caused by hysteresis of other similar systems.
ISSN:2191-916X
2191-9151
2191-916X
DOI:10.5194/ms-9-211-2018