Abstract
The flexibility and capability of continuum robots to navigate complex and constrained environments make them highly suitable for diverse applications, including minimally invasive surgery, industrial manipulation, and exploratory operations in hazardous or confined spaces. Despite these advantages, accurately modeling their kinematics and conducting comprehensive workspace analysis, particularly for multi-section cable-driven continuum robots with dual cross-module configurations, remain significant challenges. This study begins by presenting the design of a three-section dual-cross cable-driven continuum robot. The forward kinematic model is analytically derived based on the constant curvature assumption, while the inverse kinematic model is formulated as an optimization problem. To support trajectory generation, the robot's workspace is analyzed using MATLAB and SolidWorks software. The simulation example illustrates the robot's trajectory-tracking performance.
Keywords
References
Amouri, A. 2019. Investigation of the constant curvature kinematic assumption of a 2-DOFs cable-driven continuum robot. UPB Scientific Bulletin, Series D: Mechanical Engineering, 81(3), pp.27–38. ISSN 1454-2358.
Amouri, A. 2017. Contribution à la modélisation dynamique d'un robot flexible bionique, Ph.D. dissertation, University of Constantine 1, Algeria.
Amouri, A., Cherfia, A., Belkhiri, A. & Merabti, H. 2023. Bio-inspired a novel dual-cross-module sections cable-driven continuum robot: design, kinematics modeling and workspace analysis. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 45(5), p.265. Available at: https://doi.org/10.1007/s40430-023-04197-8
Burgner-Kahrs, J., Rucker, D.C. & Choset, H. 2015. Continuum robots for medical applications: a survey. IEEE Transactions on Robotics, 31(6), pp.1261-1280. Available at: https://doi.org/10.1109/tro.2015.2489500
Hannan, M.W. & Walker, I.D. 2003. Kinematics and the implementation of an elephant’s trunk manipulator and other continuum-style robots. Journal of Robotic Systems, 20(2), pp.45-63. Available at: https://doi.org/10.1002/rob.10070
Hemami, A. 1985. Studies on a light-weight and flexible robot manipulator. Robotics, 1(1), pp.27-36. Available at: https://doi.org/10.1016/s0167-8493(85)90306-7
Iqbal, S., Mohammed, S. & Amirat, Y. 2009. A guaranteed approach for kinematic analysis of continuum robot-based catheter. In: Proceedings of IEEE International Conference on Robotics and Biomimetics, December 19-23, pp.1573-1578. Available at: https://doi.org/10.1109/robio.2009.5420395
Jones, B.A. & Walker, I.D. 2006. Kinematics for multisection continuum robots. IEEE Transactions on Robotics, 22(1), pp.43-55. Available at: https://doi.org/10.1109/tro.2005.861458
Linn, J. 2016. Discrete kinematics of Cosserat rods based on the difference geometry of framed curves. In: The 4th Joint International Conference on Multibody System Dynamics, Montreal, Canada. Berlin: [s.n.].
Liu, S., Yang, Z., Zhu, Z., Han, L., Zhu, X. & Xu, K. 2016. Development of a dexterous continuum manipulator for exploration and inspection in confined spaces. Industrial Robot: An International Journal, 43(3), pp.284-295. Available at: https://doi.org/10.1108/ir-07-2015-0142
Mahl, T., Hildebrandt, A. & Sawodny, O. 2014. A variable curvature continuum kinematics for kinematic control of the Bionic Handling Assistant. IEEE Transactions on Robotics, 30(4), pp.935-949. Available at: https://doi.org/10.1109/tro.2014.2314777
McMahan, W., Jones, B.A., Walker, I., Chitrakaran, V., Seshadri, A. & Dawson, D. 2004. Robotic manipulators inspired by cephalopod limbs. In: Proceedings of the Canadian Engineering Education Association (CEEA), pp.1-10. Available at: https://doi.org/10.24908/pceea.v0i0.3994
Murphy, R.J., Kutzer, M.D., Segreti, S.M., Lucas, B.C. & Armand, M. 2014. Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis. Robotica, 32(6), pp.835-850. Available at: https://doi.org/10.1017/s0263574713001082
Kennedy, J. & Eberhart, R.C. 1995. Particle swarm optimization. In: Proceedings of IEEE International Conference on Neural Networks IV, pp.1942-1948. Available at: https://doi.org/10.1109/icnn.1995.488968
Webster, R.J. & Jones, B.A. 2010. Design and kinematic modeling of constant curvature continuum robots: a review. The International Journal of Robotics Research, 29(13), pp.1661-1683. Available at: https://doi.org/10.1177/0278364910368147
Zhou, P., Yao, J., Zhang, S., Wei, C., Zhang, H. & Qi, S. 2022. A bioinspired fish-bone continuum robot with rigid-flexible-soft coupling structure. Bioinspiration&Biomimetics, 17(6), p.066012. Available at: https://doi.org/10.1088/1748-3190/ac8c10
Proposed Creative Commons Copyright Notices
Proposed Policy for Military Technical Courier (Journals That Offer Open Access)
Authors who publish with this journal agree to the following terms:
Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).