Motion modeling of cable-driven continuum robots using vector form intrinsic finite element method

摘要

This paper presents the motion modeling of a cable-driven, single backbone continuum robot via the vector form intrinsic finite element (VFIFE) method. The VFIFE method is a solution framework based on vector mechanics. The algorithm describes a continuous body by using a finite number of particles instead of a mathematical function. We first approached the model by defining path elements and allocating particles (mass nodes) for the structure. We then established constitutive conditions as the generalized forces derived from both the external environment and internal deformed structural elements. We found that the dynamic equation of particles can be governed by Newton’s law of motion and solved by a general explicit time integration technique. Furthermore, we performed static modeling of the system by employing a dynamic relaxation algorithm with kinetic damping in the dynamic equations. Finally, from experiments, we validated the simulated static model of a single backbone continuum robot. It is shown that this method is capable of describing a continuum robot’s motion by solving for frame structures that undergo large deformation.