Design and Modeling of a Cable-driven Continuum Robot Considering Large Load

摘要

The continuum robot has high flexibility and the ability to accomplish bending tasks in complex environment. It could also be used as bionic spine, tail for quadruped robot. But current continuum robot can only bear small load due to some structural flaws. In this paper, we design a cable-driven continuum robot based on distributed elastic springs to bear large load, which is connected by universal joints in series. The static model between its bending deformation and the external load is built based on Newton-Euler equation. The experimental results show the robot can achieve accurate motion tracking under large load, the maximum root-mean-square error(RMSE) along axis X, Y and Z is 3.52mm, under external load of 7.5Kg, verifying the feasibility of the robot to be applied in the bionic spine design.