Kinematic Synthesis in the Design of Continuum Robots

Abstract

Continuum robots represent a new type of flexible and elastic robot that offers a range of advantages over their rigid-bodied counterparts. Their ability to bend, twist, and stretch similarly to biological organisms makes them ideal for navigating complex and confined environments, adapting to changing shapes and surfaces, and interacting with delicate objects without causing damage. With a diverse range of potential applications, including medical procedures and surgeries, as well as industrial inspection and maintenance, continuum robots are a fascinating area of research and development in robotics. However, the additional complexity introduced by continuum robots has led to a new set of synthesis challenges, specifically regarding their kinematics. Solving the inverse kinematics problem is crucial for enabling precise control and manipulation of these robots, allowing them to achieve the desired location and orientation of the gripper at the end of the robot. To address these challenges, this study seeks to develop advanced models and programming techniques for continuum robots that are capable of matching the near-term designs being considered. Building on the prior research conducted by DIMLab, the research aims to gain a comprehensive understanding of the kinematics of continuum robots, allowing them to be applied in a variety of contexts with greater accuracy and precision.https://ecommons.udayton.edu/stander_posters/3911/thumbnail.jp