How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance.
modelling
soft arm
soft manipulator
soft robot
tendon actuation
Journal
Frontiers in robotics and AI
ISSN: 2296-9144
Titre abrégé: Front Robot AI
Pays: Switzerland
ID NLM: 101749350
Informations de publication
Date de publication:
2020
2020
Historique:
received:
17
11
2020
accepted:
22
12
2020
entrez:
19
2
2021
pubmed:
20
2
2021
medline:
20
2
2021
Statut:
epublish
Résumé
Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.
Identifiants
pubmed: 33604355
doi: 10.3389/frobt.2020.630245
pii: 630245
pmc: PMC7885639
doi:
Types de publication
Journal Article
Langues
eng
Pagination
630245Informations de copyright
Copyright © 2021 Rao, Peyron, Lilge and Burgner-Kahrs.
Déclaration de conflit d'intérêts
The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.
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