Mahapatra, SK and Ashwin, KP and Ghosal, A (2022) Modelling of Cable-Driven Continuum Robots with General Cable Routing: a Comparison. In: 6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021, 15-18 Dec 2021, Virtual, Online, pp. 345-353.
Full text not available from this repository.Abstract
Accurate modelling of continuum robots is required for predicting its motion and for model based control. In this work, we restrict our study to cable actuated continuum robots with a flexible backbone on which perforated disks are fixed and through which a cable is routed from the base to the tip. We compare two well known models, namely the optimization-based model and the more extensively used Cosserat rod model for kinematic analysis. Both the models can predict the shape and motion of a cable-driven continuum robot (CCR) with cable routed in a general manner. The paper focuses on comparing these two models based on their ease of modelling and simulation. It was found that the optimization-based method is comparatively faster than the Cosserat rod model for most of the real world cases. These two methods are also compared with experimental results obtained with a 3D printed prototype continuum robot. It is observed that both the methods can reasonably accurately predict the shape with the optimization-based method performing better by a small amount. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
| Item Type: | Conference Paper |
|---|---|
| Publication: | Mechanisms and Machine Science |
| Publisher: | Springer Science and Business Media B.V. |
| Additional Information: | The copyright for this article belongs to Springer Science and Business Media B.V. |
| Keywords: | 3D printers; Forecasting; Kinematics; Robots, Cable routing; Cable-driven; Continuum robot; Cosserat rod; General cables; Generally routed cable; Kinematics models; Optimization based methods; Rod model; Tendon driven, Cables |
| Department/Centre: | Division of Mechanical Sciences > Materials Engineering (formerly Metallurgy) |
| Date Deposited: | 20 Jan 2022 06:53 |
| Last Modified: | 20 Jan 2022 06:53 |
| URI: | http://eprints.iisc.ac.in/id/eprint/70990 |
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