Modeling of Cable-Driven Continuum Robots with Multiple Generally Routed Cables

Mahapatra, SK and Ghosal, A (2024) Modeling of Cable-Driven Continuum Robots with Multiple Generally Routed Cables. In: 6th International and 21st National Conference on Machines and Mechanisms, iNaCoMM 2023, 7 December 2023through 9 December 2023, Raipur, pp. 803-810.

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Abstract

Cable-driven continuum robots (CCR) are increasingly gaining traction in a wide array of practical applications when compared to their rigid-link counterparts. This paper presents a geometry-based optimization method to model a CCR with multiple generally routed cables. The method discretizes the CCR into equal sections and then assumes imaginary four-bars in each section. The optimization is stated as the minimization of the coupler angles of these four-bars as well as the angles made by tangents. Simulation results are shown for three different cases, which were compared with results obtained from a Cosserat rod model simulation. The maximum RMS error between the two methods is seen to be 1.57 mm (less than 0.88 of the total length of the CCR), which verifies the accuracy of the proposed method. The average simulation time is also significantly faster in the case of the optimization-based method. This method can be used as a quick tool to study CCR�s with diverse cable routings and arrangements. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

Item Type:	Conference Paper
Publication:	Lecture Notes in Mechanical Engineering
Publisher:	Springer Science and Business Media Deutschland GmbH
Additional Information:	The copyright for this article belongs to publisher.
Keywords:	Industrial robots; Nanorobots; Robot applications, Cable routing; Cable-driven; Cable-driven continuum robot; Continuum robot; Flexible robots; Four bar; General cable routing; General cables; Multiple cable; Rigid links, Microrobots
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	26 Nov 2024 08:38
Last Modified:	27 Nov 2024 09:23
URI:	http://eprints.iisc.ac.in/id/eprint/86781

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