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A Dynamic Model for Concentric Tube Robots.

John Till1, Vincent Aloi1, Katherine E Riojas2

  • 1Department of Mechanical, Aerospace, and Biomedical Engineering, The University of Tennessee, Knoxville, TN.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|February 19, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces the first dynamic model for concentric tube continuum robots, enabling accurate simulation of complex movements like snapping and tissue interaction. The model captures vibrations, bending, and torsion for enhanced robotic control.

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Continuum Mechanics

Background:

  • Existing models for concentric tube robots rely on static Cosserat rod equations.
  • These models do not capture the dynamic behavior or inertial effects of the robot's components.

Purpose of the Study:

  • To develop the first dynamic model for concentric tube continuum robots.
  • To accurately simulate coupled inertial dynamics, vibrations, and complex motions.

Main Methods:

  • Adapted partial differential equations of a dynamic Cosserat rod.
  • Developed an initial-boundary-value problem for coupled dynamics.
  • Employed implicit finite differences in time and arc length for numerical solutions at high resolutions.

Main Results:

  • The dynamic model successfully captures high-frequency torsional dynamics during unstable snapping motions.
  • The model accurately tracks slower oscillations in bending and torsion during tissue interaction.
  • Numerical simulations demonstrate efficient and accurate prediction of robot behavior.

Conclusions:

  • The developed dynamic model provides a robust simulation tool for concentric tube continuum robots.
  • This model enhances understanding and prediction of robot dynamics, including vibrations and snapping.
  • Experimental verification confirms the model's accuracy and efficiency across a range of dynamic behaviors.