TY - GEN
T1 - Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments
AU - Helal, Isa B.I.
AU - Du, Yixiong
AU - Wang, Hao
AU - Zhang, Xuping
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.
PY - 2024/9
Y1 - 2024/9
N2 - Continuum robots have recently become a popular topic of research due to the wide range of their applications such as surgical applications, hazardous industrial areas, and search and rescue missions; The maneuverability of continuum robots proves them to be especially effective in unstructured environments. However, the non-linearity and compliant structure make the dynamics of the robot complicated. In this paper, a three-degree-of-freedom continuum robot arm is investigated. The kinematics of the robot are expressed by discretizing the robot into five segments. Each segment of the robot can bend, rotate, and extend/contract. Afterward, the Euler–Lagrange method is used to form the dynamic equations of the system. Then, the model is verified by a numerical simulation to solve the system for specific cases. The model is also experimentally validated for the same selected cases by using an available setup.
AB - Continuum robots have recently become a popular topic of research due to the wide range of their applications such as surgical applications, hazardous industrial areas, and search and rescue missions; The maneuverability of continuum robots proves them to be especially effective in unstructured environments. However, the non-linearity and compliant structure make the dynamics of the robot complicated. In this paper, a three-degree-of-freedom continuum robot arm is investigated. The kinematics of the robot are expressed by discretizing the robot into five segments. Each segment of the robot can bend, rotate, and extend/contract. Afterward, the Euler–Lagrange method is used to form the dynamic equations of the system. Then, the model is verified by a numerical simulation to solve the system for specific cases. The model is also experimentally validated for the same selected cases by using an available setup.
KW - Continuum robot
KW - Dynamic modelling
KW - Highly deformable robot
KW - Multibody system dynamics
KW - Nonlinear dynamics
UR - http://www.scopus.com/inward/record.url?scp=85197343059&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-8048-2_30
DO - 10.1007/978-981-99-8048-2_30
M3 - Article in proceedings
AN - SCOPUS:85197343059
T3 - Lecture Notes in Mechanical Engineering
SP - 477
EP - 493
BT - Proceedings of the 2nd International Conference on Mechanical Systems
A2 - Rui, Xiaoting
A2 - Liu, Caishan
PB - Springer
T2 - 2nd International Conference of Mechanical System Dynamics, ICMSD 2023
Y2 - 1 September 2023 through 5 September 2023
ER -