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Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges

Research output: Contribution to Journal/Magazine › Journal article › peer-review

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Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges. / Ma, N.; Cheneler, D.; Monk, S.D.
In: Heliyon, Vol. 10, No. 4, e26144, 29.02.2024, p. e26144.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Ma, N, Cheneler, D & Monk, SD 2024, 'Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges', Heliyon, vol. 10, no. 4, e26144, pp. e26144. https://doi.org/10.1016/j.heliyon.2024.e26144

APA

Ma, N., Cheneler, D., & Monk, S. D. (2024). Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges. Heliyon, 10(4), e26144. Article e26144. https://doi.org/10.1016/j.heliyon.2024.e26144

Vancouver

Ma N, Cheneler D, Monk SD. Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges. Heliyon. 2024 Feb 29;10(4):e26144. e26144. Epub 2024 Feb 16. doi: 10.1016/j.heliyon.2024.e26144

Author

Ma, N. ; Cheneler, D. ; Monk, S.D. / Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges. In: Heliyon. 2024 ; Vol. 10, No. 4. pp. e26144.

Bibtex

@article{c9f051fd85d44402bde39d59840525eb,
title = "Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges",
abstract = "Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.",
keywords = "Continuum robot, Dual-arm cooperation, Underwater sample retrieval, Parallel mechanism",
author = "N. Ma and D. Cheneler and S.D. Monk",
year = "2024",
month = feb,
day = "29",
doi = "10.1016/j.heliyon.2024.e26144",
language = "English",
volume = "10",
pages = "e26144",
journal = "Heliyon",
issn = "2405-8440",
publisher = "Elsevier",
number = "4",

}

RIS

TY - JOUR

T1 - Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges

AU - Ma, N.

AU - Cheneler, D.

AU - Monk, S.D.

PY - 2024/2/29

Y1 - 2024/2/29

N2 - Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.

AB - Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.

KW - Continuum robot

KW - Dual-arm cooperation

KW - Underwater sample retrieval

KW - Parallel mechanism

U2 - 10.1016/j.heliyon.2024.e26144

DO - 10.1016/j.heliyon.2024.e26144

M3 - Journal article

C2 - 38390105

VL - 10

SP - e26144

JO - Heliyon

JF - Heliyon

SN - 2405-8440

IS - 4

M1 - e26144

ER -