Geometrically predictable micro fabricated continuum robot

TL;DR

This paper introduces a universal geometrical prediction method tailored for micro fabricated continuum robots, accounting for their unique material properties and deformation behaviors, which improves upon models designed for larger robots.

Contribution

The paper presents a novel geometrical prediction framework specifically designed for micro fabricated continuum robots, integrating material properties and external force effects.

Findings

The method accurately predicts geometrical deformation under external disturbances.

Targeted geometries can be achieved by controlling external force sequences.

The approach is validated through simulations and experiments.

Abstract

Compared to the micro continuum robots that use traditional manufacturing technology, the micro fabricated continuum robots are different in terms of the application of smart materials, additive manufacturing process, and physical field control. However, the existing geometrical prediction models of the micro continuum robots still follow the model frameworks designed for their larger counterparts, which is inconsistent with the real geometrical transformation principle of micro fabricated continuum robots. In this paper, we present a universal geometrical prediction method for the geometry transformation of the micro fabricated continuum robots based on their material properties and the displacement of the stress points. By discretizing of the micro fabricated continuum structure and applying force constraints between adjacent points to simulate material properties, formulations and simulations are demonstrated to prove the feasibility and effectiveness of the proposed method. Three micro fabricated continuum robots driven through different external field forces are investigated to show two superiorities: the geometrical deformation of a micro fabricated continuum robot under external disturbances can be predicted, and a targeted geometry can be shaped by predicting the sequence and directions of external forces. This pioneer research has contributed to promote understanding and operation of micro fabricated continuum robots and their deformation both from theoretical aspect and real experimental operations.