Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Huang, Long; Liu, Bei; Yin, Lairong; Zeng, Peng; Yang, Yuan‐Han

doi:10.1155/2021/5124816

Cited by 5 publications

(3 citation statements)

References 44 publications

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“…14 Due to its accuracy and ease of position control, the study is focused on cable-driven actuators to regulate the movement. [15][16][17][18][19][20] In contrast, pneumatic actuation has some limitations and challenges because it cannot provide feedback for accurate movement, is more difficult to control, and is less portable, making it potentially challenging to directly control robot motion using deformation. 10 Hysteresis effects, restricted strain recovery, and control of shape changes are additional challenges that may arise when using shape memory alloys for soft actuation.…”

Section: Introductionmentioning

confidence: 99%

A structural optimization analysis of cable-driven soft manipulator

Khalil,

Habib,

Seadby

et al. 2024

International Journal of Advanced Robotic Systems

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Cable-driven soft robots hold significant potential for surgical and industrial applications, yet their performance and maneuverability can be further enhanced through design optimization. By optimizing the design, factors such as bending angles, manipulator deformation, and overall functionality can be directly influenced, leading to improved interaction with the environment and more accurate task performance. This article presents a physics-based design optimization approach for cable-driven soft robotic manipulators, aiming to enhance bending performance through structural design enhancements. Four design criteria, namely, cross-sectional shape, material, gap shape, and gap size, are considered in the optimization process. Given the inherent nonlinearity of soft materials, finite element modeling techniques are employed to analyze the effects of modifying each design parameter on displacement and bending angle. The manipulator’s design is evaluated using ABAQUS/CAE, and an analysis of variance test is conducted to identify significant performance differences among the design parameters. The results reveal that material variation has the most substantial impact, followed by gap shape and gap size. Based on subsequent parameter optimization, Dragon Skin 10 is determined to be the optimal material for bending motion, while a trapezoidal gap shape is preferred. In addition, a genetic algorithm is utilized to select a maximum gap size of 8.87 mm. These findings provide valuable insights into key design principles for cable-driven soft manipulators, aiming to enhance flexibility and reduce actuation forces. By establishing a fundamental understanding of the relationship between morphology and motion capability, this methodology demonstrates an effective simulation-driven optimization approach that incorporates the nonlinear elastic behavior of materials to improve performance. Overall, this work establishes a framework for optimizing cable-driven architectures to suit various applications in the field of soft robotics.

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Section: Introductionmentioning

confidence: 99%

A structural optimization analysis of cable-driven soft manipulator

Khalil,

Habib,

Seadby

et al. 2024

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Typical modules include scissor mechanisms (Bai et al, 2013;Sun et al, 2014) and singleloop mechanisms such as Bennett mechanisms (Chen and You, 2008;Song et al, 2017), Mycard mechanisms (Liu and Chen, 2009), Bricard mechanisms (Lee, 1996), Sarrus-like mechanisms (Chen et al, 2013;Lu et al, 2016), and also include origami patterns such as the Miura-ori pattern (Gattas et al, 2013), the waterbomb pattern (Lee et al, 2021), the Resch pattern (Yang et al, 2022), and the cuboid-twist pattern (Hull, 2014). These modules are usually connected by sharing links or kinematic pairs (Soykasap et al, 2004;Huang et al, 2021a;Zhao et al, 2009;Tian et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Design of an origami-based cylindrical deployable mechanism

et al. 2022

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Abstract. In this paper, an innovative cylindrical deployable mechanism (DM) based on rigid origami is presented, which is used to design a parabolic cylindrical deployable antenna. The mechanism can be deployed from the cuboid folded configuration to the cylindrical unfolded configuration with only one actuator. First, an innovative deployable string is proposed based on different types of four-vertices origami unit cells and kirigami techniques. By considering the units as 6R single-loop mechanisms, the kinematics of the origami unit cells are analyzed. Through the connection of identical deployable strings, the cylindrical DM is constructed, and its mobility is analyzed utilizing the screw theory. Then the proposed DM is used to design a parabolic cylindrical deployable antenna. A number of pillars are installed on the panels of the DM, and their lengths are determined to fit the required parabolic cylindrical surface. To verify the feasibility of the design, a scaled prototype of the deployable antenna is constructed.

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“…Venkiteswaran et al presented the static model based on the pseudo-rigid body model, which is suitable for the non-constant curvature curved motion of the continuum robot [ 29 ]. However, these methods are established based on the material constitutive model, which cannot be directly applied to the snake-arm robot with discrete joints [ 30 ].…”

Section: Introductionmentioning

confidence: 99%

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

et al. 2022

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Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.

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Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Cited by 5 publications

References 44 publications

A structural optimization analysis of cable-driven soft manipulator

A structural optimization analysis of cable-driven soft manipulator

Design of an origami-based cylindrical deployable mechanism

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

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