@inproceedings{554e400ea52c4cb8bc0980b16f8d3cd4,
title = "Design and Optimization of a Novel Flexible Spherical-Hinged Joint for Continuum Robots",
abstract = "The flexible mechanism can be integrally machined and requires no assembly is well suited as joints for continuum robots, but how to incorporate the advantages into the arm design is a key issue in this work. In this paper, a new flexible spherical-hinged joint (FSHJ) composed of tetrahedral units that can be printed integrally is proposed. The virtual remote center of motion (VRCM) of the tetrahedral units can be used to realize the multi-degree of freedom movement of the FSHJ, and the hollow configuration of the FSHJ is a powerful guarantee for the arm to carry various end-effectors. In addition, the optimization approach based on finite element analysis (FEA) was used to optimize the structural parameters of the FSHJ. The correspondence and sensitivity of the equivalent maximum bending angle (EMBA) and equivalent axial deformation (EAD) to the structural parameters of the FSHJ were analyzed to make the FSHJ with larger bending angle and higher axial stiffness. Finally, the bending stiffness of the FSHJ was verified, and the error of the test value was 5.62\%. The maximum bending angle of the optimized FSHJ was 13.6°, and the maximum standard deviation of bending angle in all directions was only 0.26°. The results show the effectiveness and feasibility of the optimization approach.",
keywords = "Continuum robot, FEA-based optimization, Flexible mechanism, Integrally machined, Virtual remote center of motion",
author = "Guoxin Li and Jingjun Yu and Xu Pei",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",
year = "2023",
doi = "10.1007/978-3-031-45770-8\_44",
language = "英语",
isbn = "9783031457692",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "438--447",
editor = "Masafumi Okada",
booktitle = "Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 2",
address = "荷兰",
}