Analytical Modeling of Cable-Driven Soft Manipulators with Constant Curvature: A Simulation Approach

Document Type : Research articles

Authors

1 Mechanical Engineering Department, Faculty of Engineering at Shoubra, Benha University, Cairo, Egypt

2 Mechatronics Engineering Department, The Higher Technological Institute, 10th of Ramadan City, Egypt

3 Mechatronics 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.

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