Analytical and numerical methods for the stiffness modeling of cable-Driven serpentine manipulators

Yuan, Han; Zhang, Wenjing; Dai, Yicheng; Xu, Wenfu

doi:10.1016/j.mechmachtheory.2020.104179

Cited by 16 publications

(1 citation statement)

References 28 publications

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“…Zhang et al [19] proposed a CCM with a flexible skeleton, established the end stiffness model of the manipulator, and analyzed the factors affecting the end stiffness. Yuan et al [20] proposed a stiffness modeling framework for a CCM composed of multiple series universal joints. The kinematic and static stiffness models of the manipulator were derived by analytical and numerical methods, and the two modeling methods were compared by simulation.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

et al. 2023

Mathematics

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The space cable-driven continuous manipulator (SCCM) has a slender structure, ultra-high degrees of freedom, and a low mass, which make it suitable for equipment inspection and maintenance operations in an unstructured and limited space environment. In this paper, the SCCM including the cable network and plenty of joint links was deeply modeled. Firstly, the mapping relationship between the cable-driving space, joint space, and task space of the SCCM was studied, and the complete kinematic relationship of the SCCM was established. Secondly, the stiffness components of the SCCM are discussed, and the stiffness modeling method of each part is given. Finally, the Cartesian space equivalent stiffness model of the end was established. Then, a dynamic co-modeling method of Matlab + Adams is proposed, which greatly improved the modeling efficiency while ensuring the modeling accuracy. Finally, based on the stiffness model, the end stiffness characteristics of a specific configuration were analyzed, and the influence of the cable tension on the stiffness and frequency of the manipulator was analyzed. Based on the dynamic co-modeling, the task trajectory dynamics’ simulation analysis and space slit crossing experiment were carried out, which verified that the designed SCCM can meet the needs of slit crossing.

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Section: Introductionmentioning

confidence: 99%

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

et al. 2023

Mathematics

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Workspace Analysis and Stiffness Optimization of Snake-Like Cable-Driven Redundant Robots

Peng²,

Yu³

2021

Lecture Notes in Computer Science

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A Novel Cable-Driven Manipulator with Constant-Curvature Deflections and Equal Displacements of the Antagonistic Cables

Dai

Wang

et al. 2022

Intelligent Robotics and Applications

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Analytical and numerical methods for the stiffness modeling of cable-Driven serpentine manipulators

Cited by 16 publications

References 28 publications

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

Stiffness Modeling and Dynamics Co-Modeling for Space Cable-Driven Linkage Continuous Manipulators

Workspace Analysis and Stiffness Optimization of Snake-Like Cable-Driven Redundant Robots

A Novel Cable-Driven Manipulator with Constant-Curvature Deflections and Equal Displacements of the Antagonistic Cables

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