Forward Kinematics of Cable-Driven Continuum Robot Using Optimization Method

Ashwin, KP and Ghosal, A (2021) Forward Kinematics of Cable-Driven Continuum Robot Using Optimization Method. In: 5th Asian Mechanism and Machine Science Conference, MMS 2018, 17-20 December 2019, Bengaluru; India, pp. 391-403.

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Abstract

An elephant trunk robot is a continuum robot consisting of a flexible backbone actuated by two pairs of cables (or tendons) offset by a distance and along the circumference of the backbone. By pulling the cables, the continuum robot assumes the shape of an arc of a circle in 3D space. In the literature, forward kinematics of the robot has been developed using differential geometry of 3D curves. In this paper, we show that forward kinematics can also be obtained by discretizing along the length of the robot, with each discrete element modeled as a four-bar mechanism, and using a minimization approach. Each of the four-bar mechanism is assumed to be rigid with constant link length. It is shown that minimizing the angle made by the coupler link with the fixed link of the parallel linkage results in a profile which is numerically same as that derived from differential geometry for a segment of the cable-driven robot in 2D. The results obtained for actuation in 2D are extended to 3D, using two four-bar mechanisms actuated by the two sets of cables, and it is shown to match the analytical formulation available in the literature. The proposed method of using a sequence of four-bar mechanisms opens up a new perspective in modeling the forward kinematics of cable-driven continuum robots. © 2021, Springer Nature Singapore Pte Ltd.

Item Type:	Conference Paper
Publication:	Lecture Notes in Mechanical Engineering
Publisher:	Springer
Additional Information:	cited By 0; Conference of 5th Asian Mechanism and Machine Science Conference, MMS 2018 ; Conference Date: 17 December 2019 Through 20 December 2019; Conference Code:241919
Keywords:	Elephant trunk robot · Flexible robots · Four-bar mechanism 2D and 3D motion
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	23 Nov 2020 07:25
Last Modified:	23 Nov 2020 07:25
URI:	http://eprints.iisc.ac.in/id/eprint/66238

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