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Erschienen in:
2022 | OriginalPaper | Buchkapitel
Investigation on the Shape Reconstruction of Cable-Driven Continuum Manipulators Considering Super-Large Deflections and Variable Structures
verfasst von : Yicheng Dai, Xiran Li, Xin Wang, Han Yuan
Erschienen in: Intelligent Robotics and Applications
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Abstract
The Cable-driven continuum manipulator is a kind of robot with high flexibility and dexterity. It has been attracting extensive attention in the past few years due to its potential applications for complex tasks in confined spaces. However, it is a challenge to accurately obtain the manipulator’s shape, especially for super-large deflections, like more than 180\(^{\circ }\). In this paper, a novel shape reconstruction method based on Bézier curves is proposed for cable-driven continuum manipulators considering super-large defections and variable structures. In addition, a variety of structures of continuum manipulators are considered, where five kinds of manipulators with variable cross sections are manufactured and tested. The feasibility of the proposed method is verified by both simulations and experiments. Results show that the shape reconstruction errors (root-mean-square-error) are all less than 2.35 mm, compared to the 180 mm long manipulators, under various manipulator structures.