Static Modeling and Analysis of Cable-driven Continuum Robots under Large Load
Currently,continuum robots have weak load capacity and cannot meet the application requirements of large loads.Therefore,a cable-driven continuum robot based on distributed elastic elements that can withstand large loads is designed.The robot has passive compliance and can be utilized for applications such as cushioning,energy saving condition.In order to build the static model between the bending deformation of the continuum robot and the external load,Newton-Euler equations under external loads are established,and numerical solvers are designed for simulation.Compared with the classical constant curvature model,the simulation results are more consistent with the actual deformation.Three groups of experiments are conducted for horizontal,vertical,and circular motions at the end of the continuum robot.The results show that under a 7.5 kg load,the maximum average error between the edge points of the robot disks and corresponding simulation points is 6.58 mm,and the mean square error is 4.50 mm.These values respectively account for 2.87％and 1.96％of the total length of the continuum robot,indicating that the robot can achieve accurate motion under large loads and verifying its feasibility in large loads.
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