Concentric-Tube-Eccentric-Rod: A Continuum Actuator for Macro-/Micro-Scale Translational Actuation

Lingyun Zeng; Hadi Sadati; Mirroyal Ismayilov; Lukas Lindenroth; Christos Bergeles

Concentric-Tube-Eccentric-Rod: A Continuum Actuator for Macro-/Micro-Scale Translational Actuation

Lingyun Zeng^*, Hadi Sadati, Mirroyal Ismayilov, Lukas Lindenroth, Christos Bergeles

^*Corresponding author for this work

Surgical & Interventional Engineering

Research output: Contribution to conference types › Paper › peer-review

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Abstract

This paper proposes a motion de-amplification-based
actuator design, which comprises coarse and fine-stages
that respectively achieve macro and micro-scale linear
actuation. The proposed de-amplification mechanism, which
outputs micrometer-level translation from scaling down
millimeter-level translation input, is a hybrid continuum
mechanism formed by embedding a many-backbone continuum
mechanism in a concentric tube mechanism. A simplified
Cosserat-rod-based analytical model incorporating a lumped
Coulomb friction model is derived to describe the
micro-actuation input/output behavior. A prototype is
fabricated and its micro-motion capabilities are
characterized by experiments. The results demonstrate the
actuator's micro-motion output possesses a travel stroke of
$232.48,$$mu$m, resolution of $0.216,$$mu$m, repeatability
of $1.92,$$mu$m (standard deviation), and output compliance
among $13.52, - 16.01,$$mu$m/N. Besides, open-loop
positioning tests show a steady state error of $1.67,$$mu$m
(mean). The actuator exhibits excellent performance and can
be created from off-the-shelf components using conventional
workshop tools.

Original language	English
Number of pages	7
Publication status	Accepted/In press - 28 Aug 2024

Keywords

Mechanism Design in Meso, Micro and Nano Scale
Mechatronics in Meso, Micro and Nano Scale
Actuation and Joint Mechanisms
Continuum Mechanisms

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CASE24_FIAccepted author manuscript, 2.89 MBLicence: CC BY

Cite this

@conference{6d2b6130b22545d2903c820604034d57,

title = "Concentric-Tube-Eccentric-Rod: A Continuum Actuator for Macro-/Micro-Scale Translational Actuation",

abstract = "This paper proposes a motion de-amplification-basedactuator design, which comprises coarse and fine-stagesthat respectively achieve macro and micro-scale linearactuation. The proposed de-amplification mechanism, whichoutputs micrometer-level translation from scaling downmillimeter-level translation input, is a hybrid continuummechanism formed by embedding a many-backbone continuummechanism in a concentric tube mechanism. A simplifiedCosserat-rod-based analytical model incorporating a lumpedCoulomb friction model is derived to describe themicro-actuation input/output behavior. A prototype isfabricated and its micro-motion capabilities arecharacterized by experiments. The results demonstrate theactuator's micro-motion output possesses a travel stroke of$232.48,$$mu$m, resolution of $0.216,$$mu$m, repeatabilityof $1.92,$$mu$m (standard deviation), and output complianceamong $13.52, - 16.01,$$mu$m/N. Besides, open-looppositioning tests show a steady state error of $1.67,$$mu$m(mean). The actuator exhibits excellent performance and canbe created from off-the-shelf components using conventionalworkshop tools. ",

keywords = "Mechanism Design in Meso, Micro and Nano Scale, Mechatronics in Meso, Micro and Nano Scale, Actuation and Joint Mechanisms, Continuum Mechanisms",

author = "Lingyun Zeng and Hadi Sadati and Mirroyal Ismayilov and Lukas Lindenroth and Christos Bergeles",

year = "2024",

month = aug,

day = "28",

language = "English",

}

TY - CONF

T1 - Concentric-Tube-Eccentric-Rod: A Continuum Actuator for Macro-/Micro-Scale Translational Actuation

AU - Zeng, Lingyun

AU - Sadati, Hadi

AU - Ismayilov, Mirroyal

AU - Lindenroth, Lukas

AU - Bergeles, Christos

PY - 2024/8/28

Y1 - 2024/8/28

N2 - This paper proposes a motion de-amplification-basedactuator design, which comprises coarse and fine-stagesthat respectively achieve macro and micro-scale linearactuation. The proposed de-amplification mechanism, whichoutputs micrometer-level translation from scaling downmillimeter-level translation input, is a hybrid continuummechanism formed by embedding a many-backbone continuummechanism in a concentric tube mechanism. A simplifiedCosserat-rod-based analytical model incorporating a lumpedCoulomb friction model is derived to describe themicro-actuation input/output behavior. A prototype isfabricated and its micro-motion capabilities arecharacterized by experiments. The results demonstrate theactuator's micro-motion output possesses a travel stroke of$232.48,$$mu$m, resolution of $0.216,$$mu$m, repeatabilityof $1.92,$$mu$m (standard deviation), and output complianceamong $13.52, - 16.01,$$mu$m/N. Besides, open-looppositioning tests show a steady state error of $1.67,$$mu$m(mean). The actuator exhibits excellent performance and canbe created from off-the-shelf components using conventionalworkshop tools.

AB - This paper proposes a motion de-amplification-basedactuator design, which comprises coarse and fine-stagesthat respectively achieve macro and micro-scale linearactuation. The proposed de-amplification mechanism, whichoutputs micrometer-level translation from scaling downmillimeter-level translation input, is a hybrid continuummechanism formed by embedding a many-backbone continuummechanism in a concentric tube mechanism. A simplifiedCosserat-rod-based analytical model incorporating a lumpedCoulomb friction model is derived to describe themicro-actuation input/output behavior. A prototype isfabricated and its micro-motion capabilities arecharacterized by experiments. The results demonstrate theactuator's micro-motion output possesses a travel stroke of$232.48,$$mu$m, resolution of $0.216,$$mu$m, repeatabilityof $1.92,$$mu$m (standard deviation), and output complianceamong $13.52, - 16.01,$$mu$m/N. Besides, open-looppositioning tests show a steady state error of $1.67,$$mu$m(mean). The actuator exhibits excellent performance and canbe created from off-the-shelf components using conventionalworkshop tools.

KW - Mechanism Design in Meso, Micro and Nano Scale

KW - Mechatronics in Meso, Micro and Nano Scale

KW - Actuation and Joint Mechanisms

KW - Continuum Mechanisms

M3 - Paper

ER -

Concentric-Tube-Eccentric-Rod: A Continuum Actuator for Macro-/Micro-Scale Translational Actuation

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Keywords

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