طراحي وساخت يك ربات پيوسته وكنترل موقعيت سرپنجه آن وصحت سنجي با استفاده از ماشين بينايي

چكيده انگليسي :

Design and Manufacture of a Continuum Robot along with Position Control of End effector Mostafa Akbarzadeh Ardakani m akbarzadeh@me iut ac ir Date of Submission 2012 03 12 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisors Mehdi Keshmiri mehdik@cc iut ac ir Mohammad Danesh danesh@cc iut ac ir Abstract Recently continuum robots have attracted many researchers in the field of robotics and biomimetics Incomparison to the conventional rigid robots this type of robots that are made of flexible links can bend alongtheir arm continuously This flexibility enables them conform themselves to the shape of the objects to graspand carry them This allows them pass through the narrow and winding holes and tubes with no collision Due to infinite degrees of freedom DOF they have kinematic redundancy Using this redundancy extratasks can be defined for the robot while the robot is tracking the desired trajectory The application of theserobots has been developed in the fields of surgery nuclear industries and investigation missions Especiallyin surgery two cooperative continuum robots can work together to perform a surgery in some areas of bodyhaving enough space for operation Previous studies in the area of continuum robots are followed by theassumption of constant curvature in each robot section In the current study by considering this assumptionand using transformation matrices the direct and inverse kinematic equations of the robot are derived According to the fact that the curvature plane of lateral backbones is parallel to that of central backbone therelation between tensions of the lateral backbones and configuration space variables are obtained Consequently using the relation between workspace and configuration variables obtained from inversekinematics tensions of lateral backbones are determined as a function of workspace variables Designing adesired trajectory for the end effector of the robot and obtaining the configuration space variables through theinverse kinematics the desired tensions of the actuators are calculated A two section continuum robot isdesigned and constructed Using the relation between the voltage and the rotational speed of the motor akinematic controller is designed The calculated tensions along with the designed controller are implementedto the aforementioned two section continuum robot The end effector position is detected by a stereo visionsystem Assumption of constant curvature is acceptable only when all of the actuators are in use If one of theactuators is out of control e g when a motor is failed and the backbone connected to it can move freely thenthe curvature will not be constant In this case we can equal the tensions of two actuators to that of oneassumptive wire having been in the curvature plane If the shape of this assumptive wire is specified theshape of those two actuators can be obtained through the geometrical relations This shape is obtained fromsimulating each section separately in ABAQUS software Having this relation between tension of assumptivewire and the position of end point of each section and using the transformation matrices the desiredworkspace variables trajectory can be transformed to the desired tensions of those two actuators Using thesame aforementioned kinematic controller these tensions have implemented to the faulty robot which oneactuator of each section is failed and their backbones can move freely Key Words Continuum robot Faulty systems Kinematics control Vision

اكبرزاده اردكاني، مصطفي

طراحي وساخت يك ربات پيوسته وكنترل موقعيت سرپنجه آن وصحت سنجي با استفاده از ماشين بينايي

كنترل سينماتيكي , ربات هاي پيوسته , سيستم هاي داراي نقص