Study on multi-section continuum robot wire-tension feedback control and load manipulability

• Published in: Industrial robot Vol. 47; no. 6; pp. 837 - 845
• Main Authors: Yeshmukhametov, Azamat Nurlanovich, Koganezawa, Koichi, Buribayev, Zholdas, Amirgaliyev, Yedilkhan, Yamamoto, Yoshio
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Group Publishing Limited 09.10.2020
• Subjects: Accuracy; Control methods; Feedback control; Manipulators; Robot arms; Robot control; Robot dynamics; Robotics; Robots; Sensors; Wire
• ISSN: 0143-991X; 1758-5791
• DOI: 10.1108/IR-03-2020-0054

Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.