This paper derives singularity conditions for concentric tube robots (CTRs). To the scope, we build the CTR geometrico-static model using discretization techniques, which are suitable for several currently-used CTRs models. Then, we obtain singularity conditions by performing a linearization of the geometrico-static model. We define Type-1 and Type-2 singularities, which are related to the unsolvability of the inverse and forward kinematostatic problems, respectively. Moreover, we also show the link between Type-2 singularities and CTR equilibrium stability. A case study with a two-tube CTR is proposed to illustrate our results.

Singularity Conditions of Concentric Tube Robots / Zaccaria F.; Ida E.; Briot S.. - ELETTRONICO. - 147:(2023), pp. 376-385. (Intervento presentato al convegno 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 tenutosi a jpn nel 2023) [10.1007/978-3-031-45705-0_37].

Singularity Conditions of Concentric Tube Robots

Zaccaria F.
Investigation
;
Ida E.
Supervision
;
2023

Abstract

This paper derives singularity conditions for concentric tube robots (CTRs). To the scope, we build the CTR geometrico-static model using discretization techniques, which are suitable for several currently-used CTRs models. Then, we obtain singularity conditions by performing a linearization of the geometrico-static model. We define Type-1 and Type-2 singularities, which are related to the unsolvability of the inverse and forward kinematostatic problems, respectively. Moreover, we also show the link between Type-2 singularities and CTR equilibrium stability. A case study with a two-tube CTR is proposed to illustrate our results.
2023
Mechanisms and Machine Science
376
385
Singularity Conditions of Concentric Tube Robots / Zaccaria F.; Ida E.; Briot S.. - ELETTRONICO. - 147:(2023), pp. 376-385. (Intervento presentato al convegno 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 tenutosi a jpn nel 2023) [10.1007/978-3-031-45705-0_37].
Zaccaria F.; Ida E.; Briot S.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/955136
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