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An elastica robot: Tip-control in tendon-actuated elastic arms

Handral, P and Rangarajan, R (2020) An elastica robot: Tip-control in tendon-actuated elastic arms. In: Extreme Mechanics Letters, 34 .

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Official URL: https://doi.org/10.1016/j.eml.2019.100584


Various applications ranging from pipeline inspection to robot-assisted surgery require highly maneuverable devices with precisely controllable tips. In this article, we propose and experimentally validate a mechanics-based approach to manipulate the quasistatic planar motion of the tip of a flexible arm by controlling the tensions in a pair of cables attached to its centerline. We show that by adopting a geometrically nonlinear elastica model for the arm, by carefully accounting for configuration-dependent tendon loadings, and by interpreting the problem of manipulating the tip of the arm as one of load optimization, it is possible to realize a high degree of accuracy. In the process, we also identify interesting features of the tendon-loaded elastica problem. Our tip-control strategy is based solely on a predictive elastica model, does not require any sensors and does not employ any feedback. The resulting elastica robot is slender, remotely actuated, energy-efficient and miniaturizable. © 2019 Elsevier Ltd

Item Type: Journal Article
Publication: Extreme Mechanics Letters
Publisher: Elsevier Ltd
Additional Information: The copyright for this article belongs to Elsevier Ltd.
Keywords: Cables; End effectors; Energy efficiency; Manipulators; Robot applications; Robotic arms; Robotics, Cable robot; Compliant manipulators; Flexible robotics; Open loop control; Soft robotics, Tendons
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 08 Feb 2023 09:24
Last Modified: 08 Feb 2023 09:24
URI: https://eprints.iisc.ac.in/id/eprint/80074

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