Kinematic and Dynamic Modelling of a Snake-Arm Manipulator Section for In-plane Motion

Authors

  • Gustavo C. Rodrigues Departamento de Engenharia Mecânica, Universidade Federal do Rio Grande do Sul, Porto Alegre.
  • Rafael A. C. Laranja Departamento de Engenharia Mecânica, Universidade Federal do Rio Grande do Sul, Porto Alegre.
  • Walter F. Lages Departamento de Sistemas Elétricos de Automação e Energia, Universidade Federal do Rio Grande do Sul, Porto Alegre.
  • Mário R. S. Sobrinho Departamento de Engenharia Mecânica, Universidade Federal do Rio Grande do Sul, Porto Alegre.
  • Eduardo A. Perondi Departamento de Engenharia Mecânica, Universidade Federal do Rio Grande do Sul, Porto Alegre.

Keywords:

Continuum Robotics, Underactuated Systems, Field Robotics, Systems Modelling

Abstract

Herein we develop and discuss two models for tendon-driven continuum robots comprising multiple sections. The first model is a simple constant-curvature one, commonly used in inverse-kinematics and trajectory-planning tasks for small and light continuum robots; the second is a rigid-body dynamic one, useful for simulations and studying control strategies. The models are compared to data from a simple prototype pseudocontinuum manipulator for pipeline inspections. Results show that the rigid body model represents more adequately the operation of the prototype in both static and dynamic tests.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles