Static modeling of miniaturized pneumatic artificial muscles, kinematic analysis, and experiments on an endoscopic end-effector

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
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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