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Modal kinematics for multisection continuum arms

机译：多节连续臂的模态运动学

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摘要

This paper presents a novel spatial kinematic model for multisection continuum arms based on mode shape functions (MSF). Modal methods have been used in many disciplines from finite element methods to structural analysis to approximate complex and nonlinear parametric variations with simple mathematical functions. Given certain constraints and required accuracy, this helps to simplify complex phenomena with numerically efficient implementations leading to fast computations. A successful application of the modal approximation techniques to develop a new modal kinematic model for general variable length multisection continuum arms is discussed. The proposed method solves the limitations associated with previous models and introduces a new approach for readily deriving exact, singularity-free and unique MSF ' s that simplifies the approach and avoids mode switching. The model is able to simulate spatial bending as well as straight arm motions (i.e., pure elongation/contraction), and introduces inverse position and orientation kinematics for multisection continuum arms. A kinematic decoupling feature, splitting position and orientation inverse kinematics is introduced. This type of decoupling has not been presented for these types of robotic arms before. The model also carefully accounts for physical constraints in the joint space to provide enhanced insight into practical mechanics and impose actuator mechanical limitations onto the kinematics thus generating fully realizable results. The proposed method is easily applicable to a broad spectrum of continuum arm designs.
机译：本文提出了一种新的基于模式形状函数（MSF）的多节连续体臂空间运动学模型。从有限元方法到结构分析，模态方法已在许多学科中使用，以具有简单数学函数的近似复杂和非线性参数变化。给定某些约束和所需的准确性，这有助于简化数值复杂的现象，并采用数值有效的实现方式进行快速计算。讨论了模态近似技术的成功应用，为通用可变长度多节连续体臂开发了新的模态运动学模型。所提出的方法解决了与先前模型相关的局限性，并引入了一种新的方法，可以轻松派生出精确，无奇异且唯一的MSF，从而简化了方法并避免了模式切换。该模型能够模拟空间弯曲以及直臂运动（即纯伸展/收缩），并为多节连续体臂引入反向的位置和方向运动学。引入了运动学解耦特征，位置和方向逆运动学。对于这些类型的机械臂，以前从未提出过这种类型的解耦。该模型还仔细考虑了关节空间中的物理约束，以增强对实际力学的了解，并在运动学上施加致动器机械限制，从而产生完全可实现的结果。所提出的方法很容易应用于广泛的连续臂设计。

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