TY - GEN
T1 - Kinetostatic and Cable-Hole Friction Modeling for Cable-Driven Continuum Robots
AU - Yang, Zheshuai
AU - Yang, Laihao
AU - Sun, Yu
AU - Chen, Xuefeng
AU - Teng, Guangrong
AU - Yang, Miaoqing
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - As one of the novel bionic robots, cable-driven continuum robot (CDCR) has a talent for compliance and dexterity in operations of narrow environments. However, due to its hyper-redundant structure, it is challenging to establish a precise model to estimate its morphology. Especially the cable-hole friction modeling for such a CDCR, which plays an essential role in its morphology estimate. In this study, we first establish the kinetostatics of the CDCR based on previous work. And then, we deduce two cable-hole friction models based on the Coulomb friction theory and the Capstan friction model, respectively. Finally, experimental validation is performed to verify the effectiveness of the proposed algorithm. The results indicate that the proposed kinetostatics with the two friction models can precisely characterize the morphology of the CDCR. The average morphology estimate errors of them are 5.05 mm and 4.79 mm, accounting for 2.63% and 2.49% of the manipulator length.
AB - As one of the novel bionic robots, cable-driven continuum robot (CDCR) has a talent for compliance and dexterity in operations of narrow environments. However, due to its hyper-redundant structure, it is challenging to establish a precise model to estimate its morphology. Especially the cable-hole friction modeling for such a CDCR, which plays an essential role in its morphology estimate. In this study, we first establish the kinetostatics of the CDCR based on previous work. And then, we deduce two cable-hole friction models based on the Coulomb friction theory and the Capstan friction model, respectively. Finally, experimental validation is performed to verify the effectiveness of the proposed algorithm. The results indicate that the proposed kinetostatics with the two friction models can precisely characterize the morphology of the CDCR. The average morphology estimate errors of them are 5.05 mm and 4.79 mm, accounting for 2.63% and 2.49% of the manipulator length.
KW - Cable-driven Continuum robots (CDCRs)
KW - Cable-hole Friction Model
KW - Kinetostatics
UR - https://www.scopus.com/pages/publications/85176018205
U2 - 10.1007/978-981-99-6501-4_31
DO - 10.1007/978-981-99-6501-4_31
M3 - 会议稿件
AN - SCOPUS:85176018205
SN - 9789819965007
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 364
EP - 370
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Zou, Jun
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Liu, Honghai
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -