Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator

doi:10.3901/JME.2020.19.122

Abstract

Abstract: A new four-degree-of-freedom parallel continuum manipulator is presented, which was combined with a cable-driven gripper to improve the performance of dexterous grasp. This manipulator is approximately equivalent to the traditional rigid link parallel mechanism by complaint branch equivalent method, and the degree of freedom analysis of the manipulator is performed by using the screw theory. The classic Cosserat Rod model is applied to model the kinematics of the continuum manipulator. By comparative analysis among three types of parallel continuum manipulator, the proposed manipulator can provide an additional torsional movement which make the gripper grasp the object more flexibly. Based on this, a simulation example of dexterous grasp is given. Finally, experiments verify the degree of freedom and kinematics of the manipulator and the performance of flexible grasping of the gripper.

Key words: parallel continuum manipulator, Cosserat Rod model, gripper, flexible grasp, kinematic manipulability

CLC Number:

TG156

WANG Peiyi, GUO Sheng, WANG Xiangyang, SONG Majun, LIN Huajie. Design and Analysis of a Dexterous Gripper Based on Flexible Parallel Continuum Manipulator[J]. Journal of Mechanical Engineering, 2020, 56(19): 122-131.

References

[1] WEBSTER R J,JONES B A. Design and kinematic modeling of constant curvature continuum robots:A review[J]. The International Journal of Robotics Research,2010,29(13):1661-1683.
[2] BRYSON C E,RUCKER D C. Toward parallel continuum manipulators[C]//2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE,2014:778-785.
[3] 于靖军,郝广波,陈贵敏,等. 柔性机构及其应用研究进展[J]. 机械工程学报,2015,51(13):53-68. YU Jingjun,HAO Guangbo,CHEN Guimin,et al. State-of-art of compliant mechanisms and their applications[J]. Journal of Mechanical Engineering. 2015,51(13):53-68.
[4] SIMAAN N,TAYLOR R,FLINT P,et al. A dexterous system for laryngeal surgery[C]//Proceeding of 2004 IEEE International Conference on Robotics and Automation,2004:351-357.
[5] 徐凯,刘欢. 多杆连续体机构:构型与应用[J]. 机械工程学报,2018,54(13):25-33. XU Kai,LIU Huan. Multi-backbone continuum mechanisms:Forms and applications[J]. Journal of Mechanical Engineering,2018,54(13):25-33.
[6] ZHAO J R,ZHENG X D,ZHENG M H,et al. An endoscopic continuum testbed for finalizing system characteristics of a surgical robot for NOTES procedures[C]//2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. IEEE,2013:63-70.
[7] XU K,ZHAO J R,FU M X. Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy[J]. IEEE/ASME Transactions on Mechatronics,2014,20(5):2133-2145.
[8] LIU S T,YANG Z X,ZHU Z J,et al. Development of a dexterous continuum manipulator for exploration and inspection in confined spaces[J]. Industrial Robot:An International Journal,2016,43(3):284-295.
[9] XU K,ZHAO J R,QIU D,et al. A pilot study of a continuum shoulder exoskeleton for anatomy adaptive assistances[J]. Journal of Mechanisms and Robotics,2014,6(4):041011.
[10] XU K,WANG Y,YANG Z X. Design and preliminary experimentation of a continuum exoskeleton for self-provided bilateral rehabilitation[C]//2014 IEEE International Conference on Information and Automation (ICIA). IEEE,2014:327-332.
[11] LIU H,ZHANG Z Y,DONG T L,et al. A single-actuator gripper with a working mode switching mechanism for grasping and rolling manipulation[C]//2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE,2018:359-364.
[12] XU K,LIU H,ZHANG Z,et al. Wrist-powered partial hand prosthesis using a continuum whiffle tree mechanism:A case study[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2018,26(3):609-618.
[13] YANG Z,ZHU X,XU K. Continuum Delta Robot:a Novel Translational Parallel Robot with Continuum Joints[C]//2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE,2018:748-755.
[14] FESTO. Bionic Tripod 3.0.[EB/OL]. https://www.festo.com/group/en/cms/10240.htm,2011.
[15] TILL J,ALOI V,RUCKER C. Real-time dynamics of soft and continuum robots based on Cosserat rod models[J]. The International Journal of Robotics Research,2019,38(6):723-746.
[16] OREKHOV A L,BRYSON C E,TILL J,et al. A surgical parallel continuum manipulator with a cable-driven grasper[C]//2015 37 th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). IEEE,2015:5264-5267.
[17] YOUNG E M,KUCHENBECKER K J,GERLING G. Design of a parallel continuum manipulator for 6-DoF fingertip haptic display[C]//2017 IEEE World Haptics Conference (WHC). IEEE,2017:599-604.
[18] YOUNG E M,KUCHENBECKER K J. Implementation of a 6-DOF parallel continuum manipulator for delivering fingertip tactile cues[J]. IEEE Transactions on Haptics,2019,12(3):295-306
[19] 方跃法,林华杰. 连续体并联抓取机器人的结构设计及运动学分析[J]. 北京交通大学学报,2019,43(4):80. FANG Yuefa,LIN Huajie. Structural designand kinematics analysis of the continuum parallel grasping manipulator[J]. Journal of Beijing Jiaotong University,2019,43(4):80.
[20] WU G L,SHI G L. Experimental statics calibration of a multi-constraint parallel continuum robot[J]. Mechanism and Machine Theory,2019,136:72-85.
[21] 陈子明,张扬,黄坤,等. 一种无伴随运动的对称两转一移并联机构[J]. 机械工程学报,2016,52(3):9-17. CHEN Ziming,ZHANG Yang,HUANG Kun,et al. Symmetrical 2R1T parallel mechanism without parasitic motion[J]. Journal of Mechanical Engineering,2016,52(3):9-17.
[22] JONES B A,GRAY R L,TURLAPATI K. Three dimensional statics for continuum robotics[C]//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE,2009:2659-2664.
[23] ANTMAN S S,MARSDEN J E,SIROVICH L. Nonlinear problems of elasticity[M]. 2nd ed. New York:Springer,2005
[24] YOSHIKAWA T. Manipulability of robotic mechanisms[J]. The international journal of Robotics Research,1985,4(2):3-9.