TY - JOUR
T1 - Unlocking the Potential of Cable-Driven Continuum Robots: A Comprehensive Review and Future Directions
AU - Bai, Haotian
AU - Lee, Boon Giin
AU - Yang, Guilin
AU - Shen, Wenjun
AU - Qian, Shuwen
AU - Zhang, Haohao
AU - Zhou, Jianwei
AU - Fang, Zaojun
AU - Zheng, Tianjiang
AU - Yang, Sen
AU - Huang, Liang
AU - Yu, Bohan
PY - 2024/1/31
Y1 - 2024/1/31
N2 - Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of freedom (DOF), bulky structures, and low manipulability in confined spaces. In contrast, continuum robots, drawing inspiration from biological structures, exhibit characteristics such as high compliance, lightweight designs, and high adaptability to various environments. Among them, cable-driven continuum robots (CDCRs) driven by multiple cables offer advantages like higher dynamic response compared to pneumatic systems and increased working space and higher loading capacity compared to shape memory alloy (SMA) drives. However, CDCRs also exhibit some shortcomings, including complex motion, drive redundancy, challenging modeling, and control difficulties. This study presents a comprehensive analysis and summary of CDCR research progress across four key dimensions: configuration design, kinematics and dynamics modeling, motion planning, and motion control. The objective of this study is to identify common challenges, propose solutions, and unlock the full potential of CDCRs for a broader range of applications.
AB - Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of freedom (DOF), bulky structures, and low manipulability in confined spaces. In contrast, continuum robots, drawing inspiration from biological structures, exhibit characteristics such as high compliance, lightweight designs, and high adaptability to various environments. Among them, cable-driven continuum robots (CDCRs) driven by multiple cables offer advantages like higher dynamic response compared to pneumatic systems and increased working space and higher loading capacity compared to shape memory alloy (SMA) drives. However, CDCRs also exhibit some shortcomings, including complex motion, drive redundancy, challenging modeling, and control difficulties. This study presents a comprehensive analysis and summary of CDCR research progress across four key dimensions: configuration design, kinematics and dynamics modeling, motion planning, and motion control. The objective of this study is to identify common challenges, propose solutions, and unlock the full potential of CDCRs for a broader range of applications.
KW - cable-driven continuum robots
KW - configuration design
KW - kinematic and dynamic modelling
KW - motion planning
KW - motion control
U2 - 10.3390/act13020052
DO - 10.3390/act13020052
M3 - Article
SN - 2076-0825
VL - 13
JO - Actuators
JF - Actuators
IS - 2
M1 - 52
ER -