Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method
Continuum robots are kinematically redundant and their dynamic models are highly nonlinear. This study aims to overcome this difficulty by presenting a more practical dynamic model of a certain class of continuum robots called cable-driven continuum robot (CDCR). Firstly, the structural design of a...
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Taiwan Association of Engineering and Technology Innovation
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doaj-78986c0483a2443195778c343453619b2020-11-25T02:14:53ZengTaiwan Association of Engineering and Technology InnovationInternational Journal of Engineering and Technology Innovation2223-53292226-809X2020-01-01101Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange MethodAmmar Amouri0Chawki Mahfoudi1Abdelouahab Zaatri2Department of Mechanical Engineering, Faculty of Technology Sciences, University of Brothers Mentouri, Constantine 1, AlgeriaDepartment of Mechanical Engineering, University Labri Ben M’Hidi, Oum el Bouaghi, AlgeriaIndependent Researcher, Ex-Department of Mechanical Engineering, University of Brothers Mentouri, Constantine 1, Algeria Continuum robots are kinematically redundant and their dynamic models are highly nonlinear. This study aims to overcome this difficulty by presenting a more practical dynamic model of a certain class of continuum robots called cable-driven continuum robot (CDCR). Firstly, the structural design of a CDCR with two rotational degrees of freedom (DOF) is introduced. Then, the kinematic models are derived according to the constant curvature assumption. Considering the complexity of the kinetic energy expression, it has been approximated by the well-known Taylor expansions. This case corresponds to weak bending angles within the specified bending angle range of the robot. On the other hand, due to the low weight of the CDCR components, the gravitational energy effects can be neglected compared to those stemmed from the elastic energy. Thereafter, the corresponding dynamic model is established using Euler-Lagrange method. Static and dynamic models have been illustrated by examples. This analysis and dynamic model development have been compared with the existing scientific literature. The obtained results shown that the consistency and the efficiency of accuracy for real-time have been carried out. However, the dynamic modeling of CDCR with more than 2-DOF leads to a more complex mathematical expression, and cannot be simplified by adopting the similar assumptions and methodology used in the case of 2-DOF. http://ojs.imeti.org/index.php/IJETI/article/view/4422continuum robotcable-driven continuum robotTaylor expansions approximationsEuler-Lagrange methoddynamic modeling |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ammar Amouri Chawki Mahfoudi Abdelouahab Zaatri |
spellingShingle |
Ammar Amouri Chawki Mahfoudi Abdelouahab Zaatri Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method International Journal of Engineering and Technology Innovation continuum robot cable-driven continuum robot Taylor expansions approximations Euler-Lagrange method dynamic modeling |
author_facet |
Ammar Amouri Chawki Mahfoudi Abdelouahab Zaatri |
author_sort |
Ammar Amouri |
title |
Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method |
title_short |
Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method |
title_full |
Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method |
title_fullStr |
Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method |
title_full_unstemmed |
Dynamic Modeling of a Spatial Cable-Driven Continuum Robot Using Euler-Lagrange Method |
title_sort |
dynamic modeling of a spatial cable-driven continuum robot using euler-lagrange method |
publisher |
Taiwan Association of Engineering and Technology Innovation |
series |
International Journal of Engineering and Technology Innovation |
issn |
2223-5329 2226-809X |
publishDate |
2020-01-01 |
description |
Continuum robots are kinematically redundant and their dynamic models are highly nonlinear. This study aims to overcome this difficulty by presenting a more practical dynamic model of a certain class of continuum robots called cable-driven continuum robot (CDCR). Firstly, the structural design of a CDCR with two rotational degrees of freedom (DOF) is introduced. Then, the kinematic models are derived according to the constant curvature assumption. Considering the complexity of the kinetic energy expression, it has been approximated by the well-known Taylor expansions. This case corresponds to weak bending angles within the specified bending angle range of the robot. On the other hand, due to the low weight of the CDCR components, the gravitational energy effects can be neglected compared to those stemmed from the elastic energy. Thereafter, the corresponding dynamic model is established using Euler-Lagrange method. Static and dynamic models have been illustrated by examples. This analysis and dynamic model development have been compared with the existing scientific literature. The obtained results shown that the consistency and the efficiency of accuracy for real-time have been carried out. However, the dynamic modeling of CDCR with more than 2-DOF leads to a more complex mathematical expression, and cannot be simplified by adopting the similar assumptions and methodology used in the case of 2-DOF.
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topic |
continuum robot cable-driven continuum robot Taylor expansions approximations Euler-Lagrange method dynamic modeling |
url |
http://ojs.imeti.org/index.php/IJETI/article/view/4422 |
work_keys_str_mv |
AT ammaramouri dynamicmodelingofaspatialcabledrivencontinuumrobotusingeulerlagrangemethod AT chawkimahfoudi dynamicmodelingofaspatialcabledrivencontinuumrobotusingeulerlagrangemethod AT abdelouahabzaatri dynamicmodelingofaspatialcabledrivencontinuumrobotusingeulerlagrangemethod |
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