A Review on Status and Prospects of Tendon/Cable Driven Continuum Robot

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A Review on Status and Prospects of Tendon/Cable Driven Continuum Robot

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[1]LIU Yanhong,ZHANG Kuan,HUO Benyan,et al.A Review on Status and Prospects of Tendon/Cable Driven Continuum Robot[J].Journal of Zhengzhou University (Engineering Science),2023,44(03):3-13.[doi:10.13705/j.issn.1671-6833.2023.03.024]

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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 44卷 Number of periods: 2023 03 Page number: 3-13 Column: Public date: 2023-04-30

Title:: A Review on Status and Prospects of Tendon/Cable Driven Continuum Robot

Author(s):: LIU Yanhong¹; 2; ZHANG Kuan¹; 2; HUO Benyan¹; 2; CHEN Pengchong¹; 2; Zhengzhou University School of Electrical and Information Engineering, Henan Zhengzhou 450001, Zhengzhou University Robot Perception and Control Henan Provincial Engineering Research Center, Henan Zhengzhou 450001

Keywords:: cable driven; robot; kinematics; dynamic model; control strategy

CLC:: TP24

DOI:: 10.13705/j.issn.1671-6833.2023.03.024

Abstract:: To promote the theoretical development and practical application of tendon /cable driven continuum robots，the relevant studies were analyzed and summarized from the aspect of modeling and control． Firstly，the structure design methods and development trend of tendon /cable driven continuum robots were introduced． On this basis，the kinematic and dynamic modeling methods of tendon /cable driven continuum robots were summarized． The modeling methods were compared from the view of modeling principles，model accuracy，complexity and computational efficiency，which would provide a guideline to select the modeling methods in different application scenarios． Then，the reason of model mismatch，parameter perturbation and dynamic response in the control of tendon / cable driven continuum robots was discussed and the existing control strategies were divided into three categories including model-based control，model-free control and hybrid control． The implementation methods，advantages and disadvantages and the development trends of control strategies in open loop and closed loop application scenarios were surveyed． Finally，the challenges in modeling and control of tendon /cable driven continuum robots were concluded and the future development direction was prospected

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