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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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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