Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments

Isa B.I. Helal; Yixiong Du; Hao Wang; Xuping Zhang

doi:10.1007/978-981-99-8048-2_30

Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments

Isa B.I. Helal, Yixiong Du, Hao Wang, Xuping Zhang^*

^*Corresponding author for this work

Department of Mechanical and Production Engineering - Mechatronics and Dynamics

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2nd International Conference on Mechanical Systems
Editors	Xiaoting Rui, Caishan Liu
Number of pages	17
Publisher	Springer
Publication date	Sept 2024
Pages	477-493
DOIs	https://doi.org/10.1007/978-981-99-8048-2_30
Publication status	Published - Sept 2024
Event	2nd International Conference of Mechanical System Dynamics, ICMSD 2023 - Beijing, China Duration: 1 Sept 2023 → 5 Sept 2023

Conference

Conference	2nd International Conference of Mechanical System Dynamics, ICMSD 2023
Country/Territory	China
City	Beijing
Period	01/09/2023 → 05/09/2023

Series	Lecture Notes in Mechanical Engineering
ISSN	2195-4356

Keywords

Continuum robot
Dynamic modelling
Highly deformable robot
Multibody system dynamics
Nonlinear dynamics

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10.1007/978-981-99-8048-2_30

Cite this

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title = "Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments",

abstract = "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.",

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author = "Helal, {Isa B.I.} and Yixiong Du and Hao Wang and Xuping Zhang",

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Helal, IBI, Du, Y, Wang, H & Zhang, X 2024, Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments. in X Rui & C Liu (eds), Proceedings of the 2nd International Conference on Mechanical Systems. Springer, Lecture Notes in Mechanical Engineering, pp. 477-493, 2nd International Conference of Mechanical System Dynamics, ICMSD 2023, Beijing, China, 01/09/2023. https://doi.org/10.1007/978-981-99-8048-2_30

Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments. / Helal, Isa B.I.; Du, Yixiong; Wang, Hao et al.
Proceedings of the 2nd International Conference on Mechanical Systems. ed. / Xiaoting Rui; Caishan Liu. Springer, 2024. p. 477-493 (Lecture Notes in Mechanical Engineering).

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

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N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

PY - 2024/9

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Dynamic Modelling of a Continuum Robot Arm with Five 3-DoF Segments

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