Prototype of an affordable continuum robot-based IoT accelerometer and its kinematic modeling

摘要

The continuum robot-based IoT has been the focus of researchers over the last decades because of its affordability cost-less manufacturing. To this end, in this paper, continuum robot’s design is briefly described. Then the forward kinematic modeling (FKM) for a single section continuum robot is derived and from which a new empirical formula for the FKM is proposed to simplify its mathematical complexity. After that, Particle swarm optimization (PSO) is adopted to figure out the inverse kinematic model of a single section continuum robot. To verify the reliability of the proposed empirical formula as well as PSO efficiency, a graceful prototype of continuum robot coupled with data logger named accelerometer 345 is attached on the robot’s end-effector to record its positions for given bending angles. Finally, the obtained robots end effector positions from the accelerometer are used as inputs to PSO and its found that the resulting bending angles from both PSO and the angle meter are overlapped. It is noteworthy to say that the proposed technique of logging data-based accelerometer for tracking continuum robot is considered for the first time as an alternative technique to perfectly track the robot’s motion.