TY - GEN
T1 - On the Kinematic Model of Continuum Robots with Spatially Varying Nonlinear Stiffness
AU - Pattanshetti, Shivanand
AU - Ryu, Seok Chang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5/8
Y1 - 2019/5/8
N2 - In this paper, we propose a laser-patterned monolithic tube with varying structural properties along the length as a core for building compact, customizable continuum devices with an inner working channel. The backbone of these robots can achieve the commonly desired distally increasing curvature through two means: varying pattern shape and varying pattern distribution. To characterize this nonlinear variation of structural properties like bending rigidity along the length and with change in strain, we use the Cosserat rod theory to estimate bending stiffness from the (computer vision based) measured shape of the robot under various simple known loading conditions. The dependence of bending stiffness on arc-length and strain is conveniently depicted as a 3D surface plot.
AB - In this paper, we propose a laser-patterned monolithic tube with varying structural properties along the length as a core for building compact, customizable continuum devices with an inner working channel. The backbone of these robots can achieve the commonly desired distally increasing curvature through two means: varying pattern shape and varying pattern distribution. To characterize this nonlinear variation of structural properties like bending rigidity along the length and with change in strain, we use the Cosserat rod theory to estimate bending stiffness from the (computer vision based) measured shape of the robot under various simple known loading conditions. The dependence of bending stiffness on arc-length and strain is conveniently depicted as a 3D surface plot.
UR - http://www.scopus.com/inward/record.url?scp=85066298823&partnerID=8YFLogxK
U2 - 10.1109/ISMR.2019.8710199
DO - 10.1109/ISMR.2019.8710199
M3 - Conference contribution
AN - SCOPUS:85066298823
T3 - 2019 International Symposium on Medical Robotics, ISMR 2019
BT - 2019 International Symposium on Medical Robotics, ISMR 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Symposium on Medical Robotics, ISMR 2019
Y2 - 3 April 2019 through 5 April 2019
ER -