Lumped Mass Model for Flexible Cable: A Review

摘要

Abstract Model of a flexible cable plays a great role in the applications of underwater towing system, mooring line system, etc. A complete mathematical model is a basis to accurately describe the dynamic characteristics of flexible cable. This article presents a state of art comprehensive review of lumped mass model. First, the mathematical principle of the lumped mass model, including geometric simplification, force analysis, and solution, are systematically summarized.Second, the dynamic response of cable under different boundary conditions is introduced, and boundary conditions are categoried. Third, the numerical solution of the lumped mass model are assessed. Finally, based on the application of guide dog robot, the authors discussed the research future and trends. The authors aim to ealize human-robot interaction through a flexible cable.