期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 2485-2492出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3061376
关键词
Dexterous Manipulation; Surgical Robotics: Steerable Catheters/Needles; Flexible Robotics
类别
资金
- National Natural Science Foundation of China [61925307, 91748212, 91848201, 61821005]
- Research Program of Frontier Sciences, CAS [QYZDB-SSW-JSC008]
- CAS/SAFEA International Partnership Program for Creative Research Teams
Magnetic field-controlled continuum robots can be steered dexterously within a small space, a novel magnetic continuum robot with multi-mode control has been proposed and studied, showing improved dexterity and workspace compared to other uniform-magnetized robots.
Magnetic field-controlled continuum robots can be steered dexterously within a small dimension. However, their dexterity, generally being restricted to C-shape, is not sufficient for most practical applications, e.g., avoiding obstacles to reach the target region, fixing the tip orientation, or passing through sharp access with the lowest damage to the human body. In this letter, a novel magnetic continuum robot (MCR) with multi-mode control using opposite-magnetized magnets is proposed and studied. A prototype robot containing a pair of opposite-magnetized magnets and a hollow elastic tube was designed and constructed. This simple structure does not hinder the miniaturization of robots. The robot is steered by an external mobile magnet, which can generate an inhomogeneous field to offer a varying magnetic torque and force on opposite-magnetized magnets to help achieve multi-mode deformation. A practical mathematical model, coupling point-dipole field model and energy-based kinematics, is developed to describe its multi-mode deformation with a mean error of 0.72 +/- 0.52 mm along the arc length, and a mean tip position error of 1.44 +/- 0.74 mm. Experimental results show that the opposite-magnetized magnetic continuum robot has a larger tip reachable workspace and improved dexterity compared to other uniform-magnetized MCRs.
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