Workspace Analysis of Cable-driven Continuum Manipulator with Cable-constrained Synchronous Rotating Mechanism

Journal of Physics: Conference Series(2022)

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摘要
Abstract In this paper, a cable-driven continuum manipulator with cable-constrained synchronous rotating mechanism (CCSRM) is studied. The purpose of this paper is to give the workspace for the cable-driven continuum manipulator, where the friction effects and the allowable range of cable tension are considered. The problem of solving workspace is transformed into a linear programming problem, which is solved by dual-simplex algorithm. On this basis, the influence of the pre-tightening force of the connecting cable on the workspace is analyzed. In addition, the tension of the motor on each driving cable is optimized to minimize the control error. Finally, the load range that the manipulator can withstand within the workspace is analyzed.
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