Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators
Yang Liu, Seong Hyo Ahn, Uksang Yoo, Alexander R. Cohen, Farshid Alambeigi
Abstract
In this paper, we present an analytical modeling approach to address the problem of tension loss in a generic variable curvature tendon-driven continuum manipulators (TD-CM) occurring due to the tendon-sheath distributed friction force. Despite the previous approaches in the literature, our presented model and the iterative solution algorithm do not rely on a priori known curvature/shape of the TD-CM and can be implemented on any TD-CM with constant/ variable curvatures with a continuous neutral axis function. The performance of the proposed modeling approach in predicting the distributed tendon tension and tension loss has been evaluated via simulation and experimental studies on a TD-CM with planar bending. Results demonstrate the outstanding and accurate performance of our novel modeling and the proposed solution algorithm.
BibTeX
@inproceedings{iros2020_towardanalytical,
title = {Toward Analytical Modeling and Evaluation of Curvature-Dependent Distributed Friction Force in Tendon-Driven Continuum Manipulators},
author = {Yang Liu and Seong Hyo Ahn and Uksang Yoo and Alexander R. Cohen and Farshid Alambeigi},
booktitle = {IROS 2020},
year = {2020}
}