Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam
Joint Authors
Wang, Zhi-peng
Xu, Shoulin
He, Bin
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-16
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
Continuum robots have become a focus for extensive research, since they can work well in complex and confined environments.
The main contribution of this paper is to establish a stiffness model of a single section multibackbone continuum robot and analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness.
First, a stiffness model which indicates the end configuration of continuum robot under external load is deduced by the screw theory and Euler-Bernoulli beam.
Then, the stiffness elements are fully analyzed, therefore, obtaining the influence of the structural parameters of continuum robot on the stiffness elements.
Meanwhile, a numerical analysis of stiffness elements is given.
Furthermore, the minimum and maximum rotation/translation stiffness are introduced to analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness.
Finally, the experiments are used to validate the proposed stiffness model.
The experimental results show that the proposed stiffness model of continuum robot is correct and the errors are less than 7%.
American Psychological Association (APA)
He, Bin& Xu, Shoulin& Wang, Zhi-peng. 2018. Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1208602
Modern Language Association (MLA)
He, Bin…[et al.]. Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam. Mathematical Problems in Engineering No. 2018 (2018), pp.1-16.
https://search.emarefa.net/detail/BIM-1208602
American Medical Association (AMA)
He, Bin& Xu, Shoulin& Wang, Zhi-peng. Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-16.
https://search.emarefa.net/detail/BIM-1208602
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1208602