内視鏡手術用ケーブル支持型フレキシブルマニピュレータの剛性最適化と運動学モデリング
Yanqiang Lei1,2,3, Fuxin Du2, Wenbo Zheng1
1School of Automation and Electrical Engineering, Linyi University, Linyi, Shandong, China.
まとめ
本研究では、ケーブル駆動型連続ロボットにおける柔軟性と剛性のトレードオフを克服するために、剛性最適化されたケーブル支持ノッチ付きマニピュレータ（CSNM）を導入します。最適化されたCSNMは、負荷容量が100%増加し、要求の厳しい用途に適しています。
科学分野:
- ロボット工学
- 機械工学
- 材料科学
背景:
- ケーブル駆動型連続ロボットは、剛性と柔軟性の間に根本的なトレードオフを示します。
- これらのロボットを高度な用途向けに開発する上で、剛性を高めることは大きな課題です。
主な方法:
- 弾性ビーム（EB）変形モデリングと剛性最適化のためにベルヌーイ・オイラービーム理論を利用しました。
- 腱長に基づいた運動モデリングのために、単純化された区分的定曲率仮説を採用しました。
- 均一な応力分布を達成し、負荷容量を強化するために、進化ベースのEB最適化アルゴリズムを実装しました。
結論:
- CSNMの構造最適化と運動モデリングは、実験結果によって検証されています。
- CSNMは、高い柔軟性と substantial な負荷容量の両方を必要とする内視鏡用途に大きな可能性を示しています。
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