Equilibrium Conformation of Concentric-Tube Robots Under Loads Based on the Minimum Energy Principle

摘要：

　　Concentric-tube robots,which consist of several pre-curved tubes,can achieve dexterous motion through axial rotation and translation of each component tube.Aiming at equilibrium conformation modeling of externally loaded concentric-tube robots,an equivalent conservative system is proposed to translate the force balance problem into the minimum potential energy configuration problem of the conservative system.Then,the optimal control theory is used to derive the differential equations for the equilibrium conformation.Finally,this model is visually evaluated through the simulation of a loaded two-tube robot,and the effects of the external loads on the vital parameters of the equilibrium conformation are analyzed.

关键词： Concentric-tube continuum robots Equilibrium conformation Minimum potential energy principle Kirchhoff rod

作者: Long Huang Changyan He Yang Yang Chenhan Guang

作者单位: School of Mechanical Engineering and Automation, Beihang University,Xueyuan Road 37, Haidian District, Beijing 100191, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 209-221

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）