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Obtaining Desired Shapes of Cable-Driven Continuum Robots Using General Cable Routing

Mahapatra, SK and Ghosal, A (2023) Obtaining Desired Shapes of Cable-Driven Continuum Robots Using General Cable Routing. In: UNSPECIFIED, pp. 130-138.

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Official URL: https://doi.org/10.1007/978-3-031-45770-8_13


Cable-driven continuum robots (CCR) with generally routed cables are capable of achieving complex shapes, which a straight-routed CCR with multiple sections cannot achieve. This paper presents an optimization-based algorithm that can predict a routing and the amount of cable actuation required to attain a prescribed desired final shape in a CCR. The algorithm is based on discretizing the CCR with several four-bar mechanisms and is purely geometry based. The actuation required to obtain the desired shape and to reach a desired position is a length parameter rather than a force and is easy to visualize. The results are compared with the previously known forward kinematics model and show an RMS error of less than 2 of the total CCR length. © 2023, 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: Robots, Cable routing; Cable-driven; Cable-driven continuum robot; Complex shapes; Continuum robot; Desired shape; Flexible backbones; General cables; General routing; Routings, Cables
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Date Deposited: 18 Mar 2024 05:22
Last Modified: 18 Mar 2024 05:22
URI: https://eprints.iisc.ac.in/id/eprint/84282

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