A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project

This document presents the design, implementation, and testing of a Tendon-Driven Continuum Robot (TDCR) named "Dr. Otto Octavius." The project aims to explore the capabilities and applications of a soft robotic system driven by tendons, similar to the muscular structure of an octopus. The...

Full description

Autores:
Álvarez Vanegas, Daniel Alejandro
Tipo de recurso:
Trabajo de grado de pregrado
Fecha de publicación:
2024
Institución:
Universidad de los Andes
Repositorio:
Séneca: repositorio Uniandes
Idioma:
eng
OAI Identifier:
oai:repositorio.uniandes.edu.co:1992/74877
Acceso en línea:
https://hdl.handle.net/1992/74877
Palabra clave:
Discrete continuum arm
Fixed rotational backbone
Kinematics
Soft-robot
Simulation
Design
ML
Ingeniería
Rights
openAccess
License
Attribution-NonCommercial 4.0 International
id UNIANDES2_5d73d615e39204d70a0add5051ff1e89
oai_identifier_str oai:repositorio.uniandes.edu.co:1992/74877
network_acronym_str UNIANDES2
network_name_str Séneca: repositorio Uniandes
repository_id_str
dc.title.none.fl_str_mv A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
title A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
spellingShingle A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
Discrete continuum arm
Fixed rotational backbone
Kinematics
Soft-robot
Simulation
Design
ML
Ingeniería
title_short A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
title_full A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
title_fullStr A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
title_full_unstemmed A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
title_sort A continous Tendon-Driven Delta Robot - The Dr. Otto Octavius Project
dc.creator.fl_str_mv Álvarez Vanegas, Daniel Alejandro
dc.contributor.advisor.none.fl_str_mv Camargo Leyva, Jonathan
dc.contributor.author.none.fl_str_mv Álvarez Vanegas, Daniel Alejandro
dc.contributor.jury.none.fl_str_mv Jonathan Camargo Leyva
dc.subject.keyword.eng.fl_str_mv Discrete continuum arm
Fixed rotational backbone
Kinematics
Soft-robot
Simulation
Design
ML
topic Discrete continuum arm
Fixed rotational backbone
Kinematics
Soft-robot
Simulation
Design
ML
Ingeniería
dc.subject.themes.spa.fl_str_mv Ingeniería
description This document presents the design, implementation, and testing of a Tendon-Driven Continuum Robot (TDCR) named "Dr. Otto Octavius." The project aims to explore the capabilities and applications of a soft robotic system driven by tendons, similar to the muscular structure of an octopus. The robot consists of multiple segments and sections connected by joints, actuated by tendons controlled via a custom-designed electronic and communication system.The report details the mechanical design, including the structure and assembly of the robot, and the development of the control electronics, emphasizing the integration of an Inertial Measurement Unit (IMU) system for precise motion tracking. Calibration procedures for both initial offsets and movement verification are described to ensure accurate control and operation of the robot. Furthermore, the document includes an analysis of the robot’s performance in executing various movements and provides troubleshooting guidelines and maintenance recommendations. The project demonstrates the potential of TDCRs in accessing difficult-to-reach areas, assisting in manufacturing processes, and supporting individuals with disabilities, highlighting the versatility and adaptability of soft robotic systems.
publishDate 2024
dc.date.accessioned.none.fl_str_mv 2024-08-01T21:05:36Z
dc.date.available.none.fl_str_mv 2024-08-01T21:05:36Z
dc.date.issued.none.fl_str_mv 2024-06-15
dc.type.none.fl_str_mv Trabajo de grado - Pregrado
dc.type.driver.none.fl_str_mv info:eu-repo/semantics/bachelorThesis
dc.type.version.none.fl_str_mv info:eu-repo/semantics/acceptedVersion
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dc.identifier.instname.none.fl_str_mv instname:Universidad de los Andes
dc.identifier.reponame.none.fl_str_mv reponame:Repositorio Institucional Séneca
dc.identifier.repourl.none.fl_str_mv repourl:https://repositorio.uniandes.edu.co/
url https://hdl.handle.net/1992/74877
identifier_str_mv instname:Universidad de los Andes
reponame:Repositorio Institucional Séneca
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dc.language.iso.none.fl_str_mv eng
language eng
dc.relation.references.none.fl_str_mv Digital Science. (2018-) Dimensions [Software] available from https://app.dimensions.ai. Accessed on (August 1, 2024), under licence agreement.
P. Serafini, E. Guazzelli, B. Schrefler, F. Pfeiffer y F. G. Rammerstorfer, On Theory and Practice of Robots and Manipulators. Vienna: Springer Vienna, 1974. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.1007/978-3-7091-2993-7
M. S. Espinoza, “Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods (a comparative study),” master’s thesis, Inst. Politéc. Bragança, Esc. Super. Tecnol. Gestão, 2012. [Online]. Available: http://hdl.handle.net/10198/8027. Accessed: August 1, 2024.
A. Uthayasooriyan, F. Vanegas, A. Jalali, K. M. Digumarti, F. Janabi-Sharifi, and F. Gonzalez, “Tendon Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods,” Drones, vol. 8, no. 6, p. 269, Jun. 2024. [Online]. Available: https://doi.org/10.3390/drones8060269. Accessed: August 1, 2024.
V. C. Anderson and R. C. Horn, “TENSOR ARM MANIPULATOR,” US Patent 3,497,083, filed 24 February 1968, and issued 24 February 1970. [Online]. Available: https://patents.google.com/patent/ US3497083A/en#patentCitations. Accessed: August 1, 2024.
Yeshmukhametov, Koganezawa y Yamamoto, “A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control”, Robotics, vol. 8, n.º 3, p. 51, July 2019. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.3390/robotics8030051
P. Rao, Q. Peyron, S. Lilge y J. Burgner-Kahrs, “How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance”, Frontiers Robot. AI, vol. 7, February 2021. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.3389/frobt.2020.630245
Z. Li, L. Wu, H. Ren y H. Yu, “Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators”, Mechanism Mach. Theory, vol. 107, pp. 148–165, February 2017. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.1016/j.mechmachtheory.2016.09.018
"Marvel.com | The Official Site for Marvel Movies, Characters, Comics, TV”. Marvel.com | The Official Site for Marvel Movies, Characters, Comics, TV. Accessed on (August 1, 2024). [On line]. Available: https://www.marvel.com/
A. Hadzic, A. Adzic, B. Braun, F. Taubner, J. Haseli, L. Disse,M. Siegwart, T. Unternahrer, and T. Felder, “Proboscis search and rescue. worm-like softrobot for search and rescue missions. focusproject, final report,” Zurich, 2018-06-18.
“Protein- Soft Robotics”. Soft Robotics. Accessed July 25, 2024. [Online]. Available: https://www .softroboticsinc.com/industries/protein/
“Impact of soft robots on industrial applications.” RoboticsBiz- Everything about robotics and AI. Accessed July 25, 2024. [Online]. Available: https://roboticsbiz.com/impact-of-soft-robots-on-industrial-applications/
“JACO Robotic Arm | Support Technology | Active Mobility Systems”. Active Mobility Systems Pty Ltd. Accessed July 25, 2024. [Online]. Available: https://www.activemobility.com.au/patient-care/upper-limb-supports/jaco-robotic-arm
T. Kato, I. Okumura, S.-E. Song, A. J. Golby, and N. Hata, “Tendon-Driven Continuum Robot for En doscopic Surgery: Preclinical Development and Validation of a Tension Propagation Model,” IEEE/ASME Trans. Mechatronics, vol. 20, no. 5, pp. 2252–2263, October 2015. Accessed July 26, 2024. [Online]. Available: https://doi.org/10.1109/tmech.2014.2372635
“MyActuator | Robot | 599 Yuanchuang Road, Huaqiao District, Kunshan City, Suzhou City, Jiangsu Province, China.” MyActuator. Accessed July 30, 2024. [Online]. Available: https://www.myactuator.com
InvenSense Inc., "MPU-6050 Product Specification", InvenSense Inc., San Jose, CA, USA, 2011.
V. C. Pinto et al., “Comparative Failure Analysis of PLA, PLA/GNP and PLA/CNT-COOH Biodegradable Nanocomposites thin Films”, Procedia Eng., vol. 114, pp. 635–642, 2015. Accessed July 31, 2024. [Online]. Available: https://doi.org/10.1016/j.proeng.2015.08.004
“Overview of materials for PETG Copolyester”. Online Materials Information Resource- MatWeb. Accessed July 31, 2024. [Online]. Available: https://www.matweb.com/search/datasheet_print.aspx?matguid=4de1c85bb946406a86c52b688e3810d0
Association connecting electronics industries. (1998). "Generic Standard on Printed Board Design (PC-2221A)". Accessed July 31, 2024. [Online]. Available: https://www.ipc.org/TOC/IPC-2221A.pdf0
Dragon Skin™ 20 Product Information. (s.f.). Smooth-On, Inc. https://www.smooth-on.com/products/dragon-skin-30
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publisher.none.fl_str_mv Universidad de los Andes
institution Universidad de los Andes
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spelling Al consultar y hacer uso de este recurso, está aceptando las condiciones de uso establecidas por los autoresAttribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Camargo Leyva, Jonathanvirtual::19559-1Álvarez Vanegas, Daniel AlejandroJonathan Camargo Leyva2024-08-01T21:05:36Z2024-08-01T21:05:36Z2024-06-15https://hdl.handle.net/1992/74877instname:Universidad de los Andesreponame:Repositorio Institucional Sénecarepourl:https://repositorio.uniandes.edu.co/This document presents the design, implementation, and testing of a Tendon-Driven Continuum Robot (TDCR) named "Dr. Otto Octavius." The project aims to explore the capabilities and applications of a soft robotic system driven by tendons, similar to the muscular structure of an octopus. The robot consists of multiple segments and sections connected by joints, actuated by tendons controlled via a custom-designed electronic and communication system.The report details the mechanical design, including the structure and assembly of the robot, and the development of the control electronics, emphasizing the integration of an Inertial Measurement Unit (IMU) system for precise motion tracking. Calibration procedures for both initial offsets and movement verification are described to ensure accurate control and operation of the robot. Furthermore, the document includes an analysis of the robot’s performance in executing various movements and provides troubleshooting guidelines and maintenance recommendations. The project demonstrates the potential of TDCRs in accessing difficult-to-reach areas, assisting in manufacturing processes, and supporting individuals with disabilities, highlighting the versatility and adaptability of soft robotic systems.Pregrado50 páginasapplication/pdfengUniversidad de los AndesIngeniería MecánicaFacultad de IngenieríaDepartamento de Ingeniería MecánicaA continous Tendon-Driven Delta Robot - The Dr. Otto Octavius ProjectTrabajo de grado - Pregradoinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_7a1fTexthttp://purl.org/redcol/resource_type/TPDiscrete continuum armFixed rotational backboneKinematicsSoft-robotSimulationDesignMLIngenieríaDigital Science. (2018-) Dimensions [Software] available from https://app.dimensions.ai. Accessed on (August 1, 2024), under licence agreement.P. Serafini, E. Guazzelli, B. Schrefler, F. Pfeiffer y F. G. Rammerstorfer, On Theory and Practice of Robots and Manipulators. Vienna: Springer Vienna, 1974. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.1007/978-3-7091-2993-7M. S. Espinoza, “Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods (a comparative study),” master’s thesis, Inst. Politéc. Bragança, Esc. Super. Tecnol. Gestão, 2012. [Online]. Available: http://hdl.handle.net/10198/8027. Accessed: August 1, 2024.A. Uthayasooriyan, F. Vanegas, A. Jalali, K. M. Digumarti, F. Janabi-Sharifi, and F. Gonzalez, “Tendon Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods,” Drones, vol. 8, no. 6, p. 269, Jun. 2024. [Online]. Available: https://doi.org/10.3390/drones8060269. Accessed: August 1, 2024.V. C. Anderson and R. C. Horn, “TENSOR ARM MANIPULATOR,” US Patent 3,497,083, filed 24 February 1968, and issued 24 February 1970. [Online]. Available: https://patents.google.com/patent/ US3497083A/en#patentCitations. Accessed: August 1, 2024.Yeshmukhametov, Koganezawa y Yamamoto, “A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control”, Robotics, vol. 8, n.º 3, p. 51, July 2019. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.3390/robotics8030051P. Rao, Q. Peyron, S. Lilge y J. Burgner-Kahrs, “How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance”, Frontiers Robot. AI, vol. 7, February 2021. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.3389/frobt.2020.630245Z. Li, L. Wu, H. Ren y H. Yu, “Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators”, Mechanism Mach. Theory, vol. 107, pp. 148–165, February 2017. Accessed on (August 1, 2024). [On line]. Available: https://doi.org/10.1016/j.mechmachtheory.2016.09.018"Marvel.com | The Official Site for Marvel Movies, Characters, Comics, TV”. Marvel.com | The Official Site for Marvel Movies, Characters, Comics, TV. Accessed on (August 1, 2024). [On line]. Available: https://www.marvel.com/A. Hadzic, A. Adzic, B. Braun, F. Taubner, J. Haseli, L. Disse,M. Siegwart, T. Unternahrer, and T. Felder, “Proboscis search and rescue. worm-like softrobot for search and rescue missions. focusproject, final report,” Zurich, 2018-06-18.“Protein- Soft Robotics”. Soft Robotics. Accessed July 25, 2024. [Online]. Available: https://www .softroboticsinc.com/industries/protein/“Impact of soft robots on industrial applications.” RoboticsBiz- Everything about robotics and AI. Accessed July 25, 2024. [Online]. Available: https://roboticsbiz.com/impact-of-soft-robots-on-industrial-applications/“JACO Robotic Arm | Support Technology | Active Mobility Systems”. Active Mobility Systems Pty Ltd. Accessed July 25, 2024. [Online]. Available: https://www.activemobility.com.au/patient-care/upper-limb-supports/jaco-robotic-armT. Kato, I. Okumura, S.-E. Song, A. J. Golby, and N. Hata, “Tendon-Driven Continuum Robot for En doscopic Surgery: Preclinical Development and Validation of a Tension Propagation Model,” IEEE/ASME Trans. Mechatronics, vol. 20, no. 5, pp. 2252–2263, October 2015. Accessed July 26, 2024. [Online]. Available: https://doi.org/10.1109/tmech.2014.2372635“MyActuator | Robot | 599 Yuanchuang Road, Huaqiao District, Kunshan City, Suzhou City, Jiangsu Province, China.” MyActuator. Accessed July 30, 2024. [Online]. Available: https://www.myactuator.comInvenSense Inc., "MPU-6050 Product Specification", InvenSense Inc., San Jose, CA, USA, 2011.V. C. Pinto et al., “Comparative Failure Analysis of PLA, PLA/GNP and PLA/CNT-COOH Biodegradable Nanocomposites thin Films”, Procedia Eng., vol. 114, pp. 635–642, 2015. Accessed July 31, 2024. [Online]. Available: https://doi.org/10.1016/j.proeng.2015.08.004“Overview of materials for PETG Copolyester”. Online Materials Information Resource- MatWeb. Accessed July 31, 2024. [Online]. Available: https://www.matweb.com/search/datasheet_print.aspx?matguid=4de1c85bb946406a86c52b688e3810d0Association connecting electronics industries. (1998). "Generic Standard on Printed Board Design (PC-2221A)". Accessed July 31, 2024. [Online]. Available: https://www.ipc.org/TOC/IPC-2221A.pdf0Dragon Skin™ 20 Product Information. (s.f.). Smooth-On, Inc. https://www.smooth-on.com/products/dragon-skin-30201911320Publication0bb50162-7add-44a0-8bf0-a4205f5869a5virtual::19559-10bb50162-7add-44a0-8bf0-a4205f5869a5virtual::19559-1https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000018833virtual::19559-1ORIGINALA continous Tendon-Driven Delta Robot -The Dr. Otto Octavius Project.pdfA continous Tendon-Driven Delta Robot -The Dr. Otto Octavius Project.pdfapplication/pdf31200458https://repositorio.uniandes.edu.co/bitstreams/efab7cae-8e5f-4432-95b2-73397616f79b/download9988e7046c4a4bef5466884308624d50MD51autorizacion tesis Daniel.pdfautorizacion tesis Daniel.pdfHIDEapplication/pdf403145https://repositorio.uniandes.edu.co/bitstreams/d2a8290a-a6f0-465f-b175-235732299d42/download2fb43ba20cef778914e8f09bafb32758MD52CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8914https://repositorio.uniandes.edu.co/bitstreams/d5b7abf4-8d76-4240-a31d-f49a3ece6d6d/download24013099e9e6abb1575dc6ce0855efd5MD53LICENSElicense.txtlicense.txttext/plain; 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