Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment, and the low stiffness and payload of continuum robots limits their intervention capabilities. In this letter, we propose a paradigm shift from individual to multiple continuum robots, which can reach the target environment from different paths and then physically connect, reconfiguring into a parallel architecture to enhance precision, stiffness, and payload. The main challenges in modelling and controlling cooperative continuum robots are outlined, and an experimental comparison between individual and cooperating continuum robots that connect through a novel shape-memory-alloy-based clutch highlights the advantages of the proposed technology.

Russo, M., Sriratanasak, N., Ba, W., Dong, X., Mohammad, A., Axinte, D. (2022). Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator. IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1558-1565 [10.1109/LRA.2021.3139371].

Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator

Russo, M;
2022-01-01

Abstract

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment, and the low stiffness and payload of continuum robots limits their intervention capabilities. In this letter, we propose a paradigm shift from individual to multiple continuum robots, which can reach the target environment from different paths and then physically connect, reconfiguring into a parallel architecture to enhance precision, stiffness, and payload. The main challenges in modelling and controlling cooperative continuum robots are outlined, and an experimental comparison between individual and cooperating continuum robots that connect through a novel shape-memory-alloy-based clutch highlights the advantages of the proposed technology.
2022
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-IND/13 - MECCANICA APPLICATA ALLE MACCHINE
English
Cooperating robots
mechanism design
continuum robots
compliant mechanisms
parallel robots
Russo, M., Sriratanasak, N., Ba, W., Dong, X., Mohammad, A., Axinte, D. (2022). Cooperative Continuum Robots: Enhancing Individual Continuum Arms by Reconfiguring Into a Parallel Manipulator. IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1558-1565 [10.1109/LRA.2021.3139371].
Russo, M; Sriratanasak, N; Ba, W; Dong, X; Mohammad, A; Axinte, D
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/313574
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