Friction Modeling in Concentric Tube Robots.

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]
Jesse Lock, Pierre E Dupont

Abstract

Concentric tube robots are a novel class of continuum robots that are constructed by combining pre-curved elastic tubes such that the overall shape of the robot is a function of the relative rotations and translations of the constituent tubes. Frictionless kinematic and quasistatic force models for this class of robots have been developed that incorporate bending and twisting of the tubes. Experimental evaluation of these models has revealed, however, a directional dependence of tube rotation on robot shape that is not predicted by these models. To explain this behavior, this paper models the contributions of friction arising from two sources: the distributed forces of contact between the tubes along their length and the concentrated bending moments generated at discontinuities in curvature and at the boundaries. It is shown that while friction due to distributed forces is insufficient to explain the experimentally observed tube twisting, a simple model of frictional torque arising from concentrated moments provides a good match with the experimental data.

Citations

Mar 15, 2012·Future Cardiology·Nikolay V VasilyevPedro J del Nido
Dec 2, 2015·IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society·Hunter B GilbertRobert J Webster
Apr 5, 2016·IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society·Hunter B GilbertRobert J Webster
Jun 12, 2013·The International Journal of Robotics Research·Andrew H GoslinePierre E Dupont
Jun 6, 2017·Operative Neurosurgery·David B ComberEric J Barth
Jun 9, 2020·International Journal of Computer Assisted Radiology and Surgery·Keshav IyengarDanail Stoyanov

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