Modelling and Control of Continuum Robots with Variable Stiffness

Fan, Yeman

Modelling and Control of Continuum Robots with Variable Stiffness

Fan, Yeman

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Publication Type:: Thesis
Issue Date:: 2023

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Field	Value	Language
dc.contributor.author	Fan, Yeman
dc.date.accessioned	2025-05-07T07:02:50Z
dc.date.available	2025-05-07T07:02:50Z
dc.date.issued	2023
dc.identifier.uri	http://hdl.handle.net/10453/187232
dc.description	University of Technology Sydney. Faculty of Engineering and Information Technology.	en_US.UTF-8
dc.description.abstract	Continuum robots have significant potential in practical applications owing to their intrinsic compliance, dexterity, and adaptability. However, the mathematical modelling and real-time control of stiffness tuning in continuum robots represent a key research question that has not been thoroughly addressed. To address this research question, this thesis first proposes an innovative design for continuum robots by incorporating antagonism and layer jamming mechanisms to endow the robot with stiffness-tuning capability. A static deflection analysis method is developed, based on the Euler-Bernoulli beam theory, to examine robot stiffness under various conditions. An equivalent two section method is also proposed for analysing and calculating the workspace of multi-segment continuum robots. This research then develops a rigid-link dynamical model for analysing the stiffness-tuning capabilities of continuum robots equipped with antagonistic mechanisms. Based on this model, a novel passivity-based controller is designed for simultaneous control of robots’ position and stiffness. This model is further developed for continuum robots with layer jamming as an additional stiffness tuning mechanism, allowing for theoretical analysis of shape locking and adjustable stiffness of continuum robots with layer jamming. Extensive simulations and experiments are conducted to validate the proposed robot design, modelling, and control methods.	en_US.UTF-8
dc.format	Thesis (PhD)
dc.language.iso	en_US	en_US.UTF-8
dc.relation	https://opus.lib.uts.edu.au/bitstream/10453/187232/1/thesis.pdf
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	The author owns the copyright in this thesis including all reproduction and reuse rights for the work. The work may not be altered without the permission of the copyright owner. Attribution is essential when quoting or paraphrasing from this thesis.
dc.rights	© 2023 Yeman Fan
dc.rights	au.edu.uts.lib/cph
dc.title	Modelling and Control of Continuum Robots with Variable Stiffness	en_US.UTF-8
dc.type	Thesis
utslib.copyright.status	open_access	*

Abstract:

Continuum robots have significant potential in practical applications owing to their intrinsic compliance, dexterity, and adaptability. However, the mathematical modelling and real-time control of stiffness tuning in continuum robots represent a key research question that has not been thoroughly addressed. To address this research question, this thesis first proposes an innovative design for continuum robots by incorporating antagonism and layer jamming mechanisms to endow the robot with stiffness-tuning capability. A static deflection analysis method is developed, based on the Euler-Bernoulli beam theory, to examine robot stiffness under various conditions. An equivalent two section method is also proposed for analysing and calculating the workspace of multi-segment continuum robots. This research then develops a rigid-link dynamical model for analysing the stiffness-tuning capabilities of continuum robots equipped with antagonistic mechanisms. Based on this model, a novel passivity-based controller is designed for simultaneous control of robots’ position and stiffness. This model is further developed for continuum robots with layer jamming as an additional stiffness tuning mechanism, allowing for theoretical analysis of shape locking and adjustable stiffness of continuum robots with layer jamming. Extensive simulations and experiments are conducted to validate the proposed robot design, modelling, and control methods.

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http://hdl.handle.net/10453/187232