发表机构
University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究设计了两种可重构绳索驱动机械臂，建立了含圆盘旋转等因素的预测静态模型，模型末端误差低且计算速度优于现有Cosserat杆求解器。
AI 中文摘要
在绳索驱动连续体机械臂（TDCMs）中，重新规划绳索路径可实现多种变形模式。本研究提出一种可重构TDCM设计，该设计允许中间间隔圆盘独立旋转，从而局部重新规划绳索路径，实现非平凡的主干空间变形。文中介绍了两种此类设计：（a）手动圆盘锁定（MDL）机械臂，用于操作前实现圆盘旋转；（b）连续圆盘转子（CDR）机械臂，用于操作过程中实现圆盘旋转。基于分段常应变（PCS）假设，在势能最小化框架内开发了一种预测静态模型，该模型纳入了（a）圆盘旋转、（b）圆盘段之间的离散绳索路径、（c）间隔圆盘的刚性厚度以及（d）绳索的弹性。通过实验结果验证了该模型，对于平行绳索路径，其平均末端误差为机械臂总长度的1.2%；对于多个圆盘旋转的情况，平均末端误差约为3%。其计算时间比最先进的Cosserat杆求解器低一个数量级。
英文摘要
Rerouting the tendon path in tendon driven continuum manipulators (TDCMs) enables a broad range of deformation modes. This work presents a Reconfigurable TDCM design which allows independent rotation of intermediate spacer disks, thereby locally rerouting the tendon and achieving non-trivial backbone spatial deformations. Two such designs, (a) Manual Disk Locked (MDL) and (b) Continuous Disk Rotor (CDR) manipulators are presented to achieve disk rotations before and during operation, respectively. A predictive static model based on the piecewise constant strain (PCS) assumption is developed within a potential energy minimization framework, incorporating (a) disk rotations, (b) discrete tendon paths between disk segments, (c) rigid thickness of spacer disks, and (d) elasticity of the tendons. The model is validated against experimental results, demonstrating an average tip error of $1.2\%$ of the manipulator's total length for parallel tendon routing and around $3\%$ for the case when multiple disks are rotated. The computation time is an order of magnitude lower than the state of the art Cosserat rod solver.
