Investigation on the Tip Positioning Accuracy of Cable-Driven Serpentine Manipulators

Abstract

Cable-driven serpentine manipulators (CDSMs), having strong compliance and flexibility, are suitable for flexible operation in confined workspace. Like many other manipulators, it is an important issue to sense the tip pose of CDSMs. In much previous research, the manipulator’s tip pose is usually determined by the driving cable lengths. However, little literature has talked about the tip positioning accuracy. This paper focused on this issue, and investigated the effect of the cable hole location error and cable length error on the tip positioning accuracy of CDSMs. For this aim, we firstly established the kinematic model, and then analyzed the influence factors of the tip positioning accuracy. Simulation results show that the cable hole location error and cable length error have significant effects on the tip positioning accuracy, and especially in certain configurations, it can cause an approximate 30 mm deviation in position. Therefore, in order to improve the tip positioning accuracy of CDSMs, it is necessary to compensate for the cable hole location error and cable length error in the modeling.

End‐Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor

“…Analyzing the source of the measurement error and establishing a compensation model can effectively improve the sensor accuracy. For example, in a cable-driven redundant manipulator, the accuracy of the encoder-based pose estimation can be improved by correcting the cable hole location error, cable length error [11], and nonnegligible cable mass [12].…”