Abstract
The cable-driven segmented manipulator with cable-constrained synchronous rotating mechanisms is a new type of continuum manipulator, which has large stiffness and fewer motors, and thus exhibits excellent comprehensive performance. This paper presents a dynamic modeling method for this type of manipulator to analyze the effect of the friction and deformation of the cables on the dynamical behaviors of the system. First, the driving cables are modeled based on the ALE formulation, strategies to detect stick–slip transitions are proposed by using a trial-and-error algorithm, and the stiff problem of the dynamic equations is released by a model smoothing method. Second, the dynamic modeling method for rigid links is presented using quaternion parameters. Third, the connecting cables are modeled by torsional spring–dampers, and the frictions between the connecting cables and conduits are considered based on a modified Coulomb friction model. Finally, numerical results are presented and verified by comparison with the experiment results. The study shows that friction and cable deformation play an important role in the dynamical behaviors of the manipulator. Due to these two factors, the constant curvature bending of the segments does not remain.
Highlights
Nowadays, the cable-driven continuum manipulators have attracted the attentions of many researchers
This paper presents a dynamic modeling method for a cable-driven continuum manipulator with cable-constrained synchronous rotating mechanisms
The driving cables are modeled based on the arbitrary Lagrangian Eulerian (ALE) formulation and the strategies for detecting stick-slip motions are proposed by using a trial-and-error algorithm
Summary
The cable-driven continuum manipulators have attracted the attentions of many researchers. Xu’s group [15,16] proposed a new type of cable-driven continuum manipulator with cable-constrained synchronous rotating mechanisms. The difficulties for dynamic modeling of the cabledriven continuum manipulator with CCSRM include three aspects This type of manipulator consists of a great number of cables. Peng et al [21] proposed an arbitrary Lagrangian Eulerian (ALE) formulation for dynamic modeling of cabledriven mechanisms, which can significantly reduce the number of DOFs. if all cables, including driving and connecting cables, are modeled by ALE formulation, a great quantity of DOFs still be needed for this manipulator. This paper presents a dynamic modeling method for the cable-driven continuum manipulator with CCSRM considering friction as well as deformation of all cables.
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