Analytical Modeling of Cable-Driven Soft Manipulators with Constant Curvature: A Simulation Approach | ||||
| Engineering Research Journal (Shoubra) | ||||
| Volume 53, Issue 3, July 2024, Page 31-36 PDF (1.27 MB) | ||||
| Document Type: Research articles | ||||
| DOI: 10.21608/erjsh.2024.279413.1286 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
sameh Habib1; Tamer Abdel-Fattah Khalil1; sara gamal seadby  2; shady maged3
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| 1Mechanical Engineering Department, Faculty of Engineering at Shoubra, Benha University, Cairo, Egypt | ||||
| 2Mechatronics Engineering Department, The Higher Technological Institute, 10th of Ramadan City, Egypt | ||||
| 3Mechatronics Engineering Department, Faculty of Engineering, Ain Shams University, Cairo, Egypt | ||||
| Abstract | ||||
| Cable-driven continuum robots are important in many disciplines because they are versatile and adaptive, allowing for accurate manipulation in confined situations. Their capacity to explore confined areas and accomplish delicate operations makes them essential equipment for medical treatments, inspections, and exploration missions. This paper presents a simulation-based kinematic modeling approach for a cable-driven soft continuum manipulator. The manipulator's kinematics are analyzed by relating the cable lengths to the bending angle, orientation, and curvature. The analysis involves two independent mappings: a general mapping for the kinematics of continuum robots and a specific mapping tailored to the manipulator design. Both mappings are developed for single and multi-section configurations. The proposed approach is validated through simulations and workspace analysis, demonstrating its effectiveness in accurately representing the manipulator's deformations and enabling precise motion control. This work aims to provide a framework for kinematic analysis of similar cable-driven soft manipulators and insights into the applicability of piecewise constant curvature PCC modeling techniques. | ||||
| Keywords | ||||
| continuum robot; PCC; soft manipulator | ||||
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