Bio-inspired a novel dual-cross-module sections cable-driven continuum robot: design, kinematics modeling and workspace analysis

摘要

In recent years, research on continuum robots has advanced significantly to overcome the limitations of rigid-link robots that particularly suffer when working in a confined environment and have some insecure interaction. To address these issues, this paper proposes a design of a novel Cable-Driven Continuum Robot (CDCR) serially formed by dual-cross-module sections inspired by a fish bone-like structure. The proposed design combines multiple features of lightweight, flexibility, rigid structural stability, and asymmetric-shaped workspace. Furthermore, based on the famous Constant Curvature Kinematic Approach, the paper develops the forward and inverse kinematics of the proposed CDCR. The Forward Kinematics (FKs) are analytically developed, whereas the Inverse Kinematics (IKs) are numerically calculated. The IK of a single CDCR’s section, i.e., dual-cross-module CDCR’s section, is computed using polynomial functions fitting. Knowing the end-tip coordinates of each CDCR’s section, which are determined using Particle Swarm Optimization algorithm, the IK of multi-section CDCR is iteratively derived using a modular and IK-based concept of a single CDCR’s section. Besides, the CDCR’s workspace is analyzed and compared to that with a cylindrical backbone. Finally, in order to validate the proposed approaches, simulation examples via Matlab software for point-to-point trajectory tracking in free environment, are carried out. In addition, experimental measurements are conducted using a single CDCR’s section in order to evaluate the kinematic models and to analyze the design principle in terms of load capacity.