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Modelling of Cable-Driven Continuum Robots with General Cable Routing: a Comparison

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.
Official URL: https://doi.org/10.1007/978-3-030-91892-7_32


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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