SG10201801266WA - Continuum robots - Google Patents

Continuum robots

Info

Publication number
SG10201801266WA
SG10201801266WA SG10201801266WA SG10201801266WA SG10201801266WA SG 10201801266W A SG10201801266W A SG 10201801266WA SG 10201801266W A SG10201801266W A SG 10201801266WA SG 10201801266W A SG10201801266W A SG 10201801266WA SG 10201801266W A SG10201801266W A SG 10201801266WA
Authority
SG
Singapore
Prior art keywords
segment
relative
robots
strain sensor
elastic strain
Prior art date
Application number
SG10201801266WA
Inventor
Troncoso Alatorre
Amir Rabani
Original Assignee
Rolls Royce Plc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rolls Royce Plc filed Critical Rolls Royce Plc
Publication of SG10201801266WA publication Critical patent/SG10201801266WA/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

ONTINUUM ROBOTS A continuum robot comprising: a first segment defining a first end and a second 5 end, the first segment including a first actuator coupled to the second end and configured to control movement of the second end relative to the first end; and a first elastic strain sensor coupled to the first segment and positioned between the first end and the second end, the first elastic strain sensor being configured to provide a first output signal associated with the movement of the second end 10 relative to the first end. (Fig. 1)
SG10201801266WA 2017-03-09 2018-02-14 Continuum robots SG10201801266WA (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1703755.7A GB2560354A (en) 2017-03-09 2017-03-09 Continuum robots

Publications (1)

Publication Number Publication Date
SG10201801266WA true SG10201801266WA (en) 2018-10-30

Family

ID=58605593

Family Applications (1)

Application Number Title Priority Date Filing Date
SG10201801266WA SG10201801266WA (en) 2017-03-09 2018-02-14 Continuum robots

Country Status (4)

Country Link
US (1) US20180257235A1 (en)
EP (1) EP3372353A1 (en)
GB (1) GB2560354A (en)
SG (1) SG10201801266WA (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11793394B2 (en) 2016-12-02 2023-10-24 Vanderbilt University Steerable endoscope with continuum manipulator
WO2019055701A1 (en) * 2017-09-13 2019-03-21 Vanderbilt University Continuum robots with multi-scale motion through equilibrium modulation
US11530621B2 (en) 2019-10-16 2022-12-20 General Electric Company Systems and method for use in servicing a machine
US11679898B2 (en) * 2020-06-15 2023-06-20 General Electric Company Inspection and repair tool
CN114260885B (en) * 2022-01-27 2023-08-04 同济大学 Bionic CPG motion regulation and control system and method for snake-shaped robot
CN116476078B (en) * 2023-06-19 2023-09-05 安徽大学 Laser radar-based stable target tracking method for snake-shaped robot

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0871978A (en) * 1994-06-27 1996-03-19 Olympus Optical Co Ltd Manipulator
US7044245B2 (en) * 2003-06-17 2006-05-16 Science Applications International Corporation Toroidal propulsion and steering system
US7930065B2 (en) * 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US8224485B2 (en) * 2006-05-24 2012-07-17 Titan Medical Inc. Snaking robotic arm with movable shapers
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
GB0811971D0 (en) * 2008-06-30 2008-07-30 Oliver Crispin Robotics Ltd Robotic arm
US20110295426A1 (en) * 2010-05-25 2011-12-01 Georgeson Gary E Robotic snakes for use in non-destructive evaluation and maintenance operations
GB201015566D0 (en) * 2010-09-17 2010-10-27 Rolls Royce Plc A flexible tool
US9841331B2 (en) * 2011-09-24 2017-12-12 President And Fellows Of Harvard College Artificial skin and elastic strain sensor
WO2013184192A2 (en) * 2012-05-12 2013-12-12 Massachusetts Institute Of Technology Continuum style manipulator actuated with phase change media
US8941392B1 (en) * 2013-08-17 2015-01-27 Bend Labs, Inc. Angular displacement sensor of compliant material
EP3071939B1 (en) * 2013-11-18 2019-07-31 President and Fellows of Harvard College Printed stretchable strain sensor
JP6534015B2 (en) * 2013-11-18 2019-06-26 国立大学法人山梨大学 Separator and cell stack for fuel cell

Also Published As

Publication number Publication date
GB201703755D0 (en) 2017-04-26
US20180257235A1 (en) 2018-09-13
GB2560354A (en) 2018-09-12
EP3372353A1 (en) 2018-09-12

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