Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures

Dai, Yicheng; Li, Xiran; Wang, Xin; Yuan, Han

doi:10.1007/978-3-031-13822-5_17

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2023

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“…Cable-driven continuum arms are the functional imitation and electronic mechanization of soft animals in the biological world [ 11 ], such as snakes [ 12 ], cephalopods [ 13 ], and elephant trunks [ 14 ]. They have great potential in minimally invasive surgeries [ 15 , 16 ], aerospace [ 7 , 17 ], and maintenance in confined spaces [ 18 , 19 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping

Dai

Chen

et al. 2023

Micromachines

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With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In this paper, a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation. The kinematic model of the robot is proposed and verified through simulations and experiments. Results show that the maximum repeat positioning error is no larger than 1 mm and the maximum tracking error is no larger than 2 mm, compared to the 300 mm long arm. In addition, the demonstration experiment of grasping a ball indicates the good performance of the robot in compliant grasping.

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