Control of Two-Section 3D Printed Tele-operated Wire-Driven Continuum Robot Arm

Volume 5, Issue 1, February 2020     |     PP. 1-19      |     PDF (1475 K)    |     Pub. Date: March 9, 2020
DOI:    244 Downloads     3884 Views  


Azamat Yeshmukhametov, School of Science and Technology, Tokai University, Hiratsuka, Japan; Department of Precision Engineering, Tokai University, Hiratsuka, Japan
Koichi Koganezawa, Department of Robotics and Engineering Tools of Automation, Satbayev University, Almaty, Kazakhstan
Askar Seidakhmet, Department Applied Mechanics and CAD Engineering, Satbayev University, Almaty, Kazakhstan
Yoshio Yamamoto, Department of Mechanical Engineering, Tokai University, Hiratsuka, Japan

In the last couple of decades, wire-driven mechanisms getting more attention in robotics and medical instruments. The wire-driven actuation system is one of the effective ways of force transmission in the distance. In continuum robots, a wire-driven mechanism plays a crucial role in robot control. Likewise, power transmission in a range allows us to locate motors in the base and improve robot design and dexterity features as well. However, a wire-driven mechanism cannot provide stiffness to the robot structure, which can negatively affect the robot's end-effector position. Therefore, many scholars and engineers contributing various types of continuum robot’s backbone design to provide necessary rigidity to the robot backbone during the work. Also, wire-driven mechanisms have a problem with tension control. Tendon actuated robots demand additional mechanisms to compensate for lost tension during the motion as well. So, the investigation will cover a novel pretension mechanism system to avoid wire slack and escape from the pulleys. The novelty of this research is proposed by robot kinematics and a new robot control strategy.This research will describe a continuum robot backbone design and robot control, moreover, based on proposed robot design, forward kinematics, and control architecture of the robot.

Continuum robot, wire-driven, 3d printed, robot design, control, kinematics.

Cite this paper
Azamat Yeshmukhametov, Koichi Koganezawa, Askar Seidakhmet, Yoshio Yamamoto, Control of Two-Section 3D Printed Tele-operated Wire-Driven Continuum Robot Arm , SCIREA Journal of Electrical Engineering. Volume 5, Issue 1, February 2020 | PP. 1-19.


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