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Monday, July 8 • 17:30 - 17:50
ANALYSIS AND EXPERIMENTAL STUDY OF THE VIBRATION CHARACTERISTIC FOR A TENDON-DRIVEN CONTINUUM MANIPULATOR

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Tendon-driven continuum manipulators have been used in many applications, including surgical robotics and field robotics, due to their unique advantages of flexibility and dexterity. The main structure of a continuum manipulator is a backbone and several tendons. The tendons are routed along the backbone structure and terminated at selected points down it. The motors then pull the tendons to generate torques at the termination points, resulting in continuous bending. Compared with traditional rigid-link industrial manipulators, the continuum manipulators are more flexible, which makes them safer to work in high-risk environment, such as in the human body. However, the flexibility at the same time brings challenges to the control system. The vibration reduces the accuracy of the manipulator and possibly causes control instability if non-collocated feedback control is utilized. Therefore, it is crucial to understand the vibration characteristic of the manipulator, more specifically, to predict the natural frequencies of the manipulator in different configurations. In this research, we design a 2-section continuum manipulator with 4 degrees of freedom. Combining the finite element method and the analytical method, we propose a practical approach to predict the manipulator's first resonant frequency and show how this frequency varies with the configuration. Finally, a test rig is established and the manipulator is then tested to obtain the natural frequencies in different configurations. The experimental results are consistent to the prediction.

Moderators
avatar for Simon Jones

Simon Jones

Associate Professor, Rose-Hulman Institute of Technology
Professional interests include undergraduate engineering education, finite element modeling, ground-borne vibrations, vibrations of musical instruments, and dynamics of toys.
GM

Guilhem Michon

Professor, ISAE-SUPAERO

Authors

Monday July 8, 2019 17:30 - 17:50 EDT
St-Laurent 7
  T07 Struct. dyn. & nonlin. vib., RS03 Struct ac & vibr

Attendees (5)