Design and analysis of a family of snake arm robots connected by compliant joints

Xin Dong; Mark Raffles; Salvador Cobos Guzman; Dragos Axinte; James Kell

doi:10.1016/j.mechmachtheory.2014.01.017

Design and analysis of a family of snake arm robots connected by compliant joints

Xin Dong, Mark Raffles, Salvador Cobos Guzman, Dragos Axinte, James Kell

Research output: Journal Publication › Article › peer-review

81 Citations (Scopus)

Abstract

Snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e.g., minimally invasive surgery and industry assembly. This paper proposes a novel design of a snake arm robot which has a unique twin actuation construction and maintains the cable tension in any arbitrary configuration. Also, this design has a great flexibility (bend capability) and an appropriate stiffness enabled by compliant joint construction. Further, a kinematic model for this construction is introduced, which is among the most efficient method along the existing approaches. This model can significantly simplify the kinematics of this cable driven system and Jacobian of snake arm robot that is also described in detailed. Furthermore, based on a proposed Jacobian, the stiffness for multi-compliant joint connected snake arm robot is presented. Finally, all the analyses have been verified by Finite element model.

Original language	English
Pages (from-to)	73-91
Number of pages	19
Journal	Mechanism and Machine Theory
Volume	77
DOIs	https://doi.org/10.1016/j.mechmachtheory.2014.01.017
Publication status	Published - Jul 2014
Externally published	Yes

Keywords

Jacobian analysis
Kinematics analysis
Snake arm robot
Stiffness analysis

ASJC Scopus subject areas

Bioengineering
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/j.mechmachtheory.2014.01.017

Cite this

@article{a799f0663a584db4b2853ca898cf07c0,

title = "Design and analysis of a family of snake arm robots connected by compliant joints",

abstract = "Snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e.g., minimally invasive surgery and industry assembly. This paper proposes a novel design of a snake arm robot which has a unique twin actuation construction and maintains the cable tension in any arbitrary configuration. Also, this design has a great flexibility (bend capability) and an appropriate stiffness enabled by compliant joint construction. Further, a kinematic model for this construction is introduced, which is among the most efficient method along the existing approaches. This model can significantly simplify the kinematics of this cable driven system and Jacobian of snake arm robot that is also described in detailed. Furthermore, based on a proposed Jacobian, the stiffness for multi-compliant joint connected snake arm robot is presented. Finally, all the analyses have been verified by Finite element model.",

keywords = "Jacobian analysis, Kinematics analysis, Snake arm robot, Stiffness analysis",

author = "Xin Dong and Mark Raffles and Guzman, {Salvador Cobos} and Dragos Axinte and James Kell",

note = "Funding Information: The research leading to these results has received funding from the European Union Seventh Framework Programme ( FP72011 ) under grant agreement no. 284959 (MiRoR) and the Dorothy Hodgkin Scholarship from EPSRC UK. ",

year = "2014",

month = jul,

doi = "10.1016/j.mechmachtheory.2014.01.017",

language = "English",

volume = "77",

pages = "73--91",

journal = "Mechanism and Machine Theory",

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publisher = "Elsevier Ltd.",

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T1 - Design and analysis of a family of snake arm robots connected by compliant joints

AU - Dong, Xin

AU - Raffles, Mark

AU - Guzman, Salvador Cobos

AU - Axinte, Dragos

AU - Kell, James

N1 - Funding Information: The research leading to these results has received funding from the European Union Seventh Framework Programme ( FP72011 ) under grant agreement no. 284959 (MiRoR) and the Dorothy Hodgkin Scholarship from EPSRC UK.

PY - 2014/7

Y1 - 2014/7

N2 - Snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e.g., minimally invasive surgery and industry assembly. This paper proposes a novel design of a snake arm robot which has a unique twin actuation construction and maintains the cable tension in any arbitrary configuration. Also, this design has a great flexibility (bend capability) and an appropriate stiffness enabled by compliant joint construction. Further, a kinematic model for this construction is introduced, which is among the most efficient method along the existing approaches. This model can significantly simplify the kinematics of this cable driven system and Jacobian of snake arm robot that is also described in detailed. Furthermore, based on a proposed Jacobian, the stiffness for multi-compliant joint connected snake arm robot is presented. Finally, all the analyses have been verified by Finite element model.

AB - Snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e.g., minimally invasive surgery and industry assembly. This paper proposes a novel design of a snake arm robot which has a unique twin actuation construction and maintains the cable tension in any arbitrary configuration. Also, this design has a great flexibility (bend capability) and an appropriate stiffness enabled by compliant joint construction. Further, a kinematic model for this construction is introduced, which is among the most efficient method along the existing approaches. This model can significantly simplify the kinematics of this cable driven system and Jacobian of snake arm robot that is also described in detailed. Furthermore, based on a proposed Jacobian, the stiffness for multi-compliant joint connected snake arm robot is presented. Finally, all the analyses have been verified by Finite element model.

KW - Jacobian analysis

KW - Kinematics analysis

KW - Snake arm robot

KW - Stiffness analysis

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SN - 0094-114X

VL - 77

SP - 73

EP - 91

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -

Design and analysis of a family of snake arm robots connected by compliant joints

Abstract

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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