Ashwin, KP and Ghosal, A (2020) Static modeling of miniaturized pneumatic artificial muscles, kinematic analysis, and experiments on an endoscopic end-effector. In: IEEE/ASME Transactions on Mechatronics, 24 (4). pp. 1429-1439.
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Abstract
In this paper, we present the design, development, modeling, and experimental validation of an endoscopic attachment that can be used to independently position an endoscopic catheter tip at a desired location. Three miniaturized pneumatic artificial muscles (MPAMs) are used in a flexible endoscopic attachment, each MPAM is of 1.2mmdiameter and 45mmin length and placed approximately 120 degrees apartwithin a pair of concentric springs. Pressurizing one or more MPAMs allows the tip to be positioned in aworkspace,which is approximately a hemispherical section of radius 45 mm.We present a new and improved theoretical model for pressure-deformation relationship of a MPAM using static equations of a pressurized thick cylinder and constraints due to the braids. Comparison with existing models show that the proposed model performs better and the errors predicted by the model are less than 5% with experiments. A new forward kinematic model relating the position and orientation of the tip of the end-effector with changes in MPAM lengths is developed. Finally, we present experimental results conducted on a prototype endoscopic attachment and show that our model could predict the pose of the end-effector with a maximum error of 2 ± 1 mm.
Item Type: | Journal Article |
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Publication: | IEEE/ASME Transactions on Mechatronics |
Publisher: | Institute of Electrical and Electronics Engineers Inc. |
Additional Information: | The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc. |
Keywords: | End effectors; Kinematics; Muscle; Pneumatic drives; Pneumatics, Experimental validations; Forward kinematics; Kinematic Analysis; Pneumatic artificial muscle; Position and orientations; Pressure deformation; Static equations; Theoretical modeling, Endoscopy |
Department/Centre: | Division of Mechanical Sciences > Mechanical Engineering |
Date Deposited: | 16 Feb 2023 03:18 |
Last Modified: | 16 Feb 2023 03:18 |
URI: | https://eprints.iisc.ac.in/id/eprint/80268 |
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