Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum Robot

In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions fo...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-10, Vol.5 (4), p.5811-5818
Main Authors: Nuelle, Kathrin, Sterneck, Tim, Lilge, Sven, Xiong, Dezhu, Burgner-Kahrs, Jessica, Ortmaier, Tobias
Format: Article
Language:English
Subjects:
Calibration
calibration and identification
Chains
Curvature
Flexible robots
Kinematics
Legged locomotion
Model accuracy
Modelling
Parallel robots
Prototypes
Robots
Segments
Tendons
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Summary:In this work, a novel planar parallel continuum robot (PCR) is introduced, consisting of three kinematic chains that are coupled at a triangular end-effector platform and include tendon-actuated continuum segments. The kinematics of the resulting structure are derived by adapting the descriptions for conventional planar parallel manipulators to include constant curvature bending of the utilized continuous segments. To account for friction and non-linear material effects, a data-driven model is used to relate tendon displacements and curvature of the utilized continuum segments. A calibration of the derived kinematic model is conducted to specifically represent the constructed prototype. This includes the calibration of geometric parameters for each kinematic chain and for the end-effector platform. During evaluation, positioning repeatability of 1.0% in relation to one continuum segment length of the robot, and positioning accuracy of 1.4%, are achieved. These results are comparable to commonly used kineto-static modeling approaches for PCR. The presented model achieves high path accuracies regarding the robot's end-effector pose in an open-loop control scenario.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.3010213