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Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges.

N Ma1, D Cheneler1, S D Monk1

  • 1Department of Engineering, Lancaster University, Lancaster, United Kingdom.

Heliyon
|February 23, 2024
PubMed
Summary

A new collaborative dual-arm continuum robot system with flexible hinges improves kinematic accuracy by tenfold. This lightweight, water-resistant robot aids remote engineering tasks in unstructured industrial settings.

Keywords:
Continuum robotDual-arm cooperationParallel mechanismUnderwater sample retrieval

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Industrial Automation

Background:

  • Remote engineering tasks in unstructured industrial environments require dexterous tools.
  • Existing tools often lack the necessary dexterity for tasks like pre-decommissioning sampling.
  • There is a need for advanced robotic solutions for these challenging applications.

Purpose of the Study:

  • To introduce a novel collaborative dual-arm continuum robot system.
  • To enhance the kinematic accuracy of continuum robots for industrial applications.
  • To address the limitations of current robotic tools in unstructured environments.

Main Methods:

  • Development of a simple, lightweight, and water-resistant collaborative dual-arm continuum robot.
  • Integration of flexible hinges with a conventional continuum robot configuration.
  • Development of kinematic and stiffness models accounting for flexible hinge influence.

Main Results:

  • The proposed system demonstrates improved kinematic accuracy.
  • Kinematic accuracy was enhanced by a factor of approximately 10 compared to conventional continuum robots.
  • The flexible hinges' dimensions are adjustable for task adaptation.

Conclusions:

  • The novel continuum robot system effectively improves kinematic accuracy for remote industrial tasks.
  • The integration of flexible hinges is a key innovation for enhancing robot performance.
  • This technology offers a promising solution for complex engineering challenges in unstructured environments.