Design, Control and Analysis of a Dual-arm Continuum Flexible Robot System

摘要

Multi-arm flexible robot can cooperate with each other to achieve complex surgical actions during operation. In this paper, we propose the mechanical structure design, control and analysis of a dual-arm continuum flexible robot for surgical task that needs multi-tools cooperation. The movement of a single arm is controlled by a set of flexible wires. The two arms work together under control of a remote device to perform actions such as gripping and cutting, which cannot be done with single arm. Kinematic model of the flexible arm has been established. Accuracy of the motion has been tested and verified. Experimental results demonstrate the feasibility of the proposed system.