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Updated: Jul 2, 2026
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
9.2K
Dynamic model and control for a cable-driven continuum manipulator used for minimally invasive surgery
Fei Qi1, Bai Chen2, Shuyuan Gao1
1School of Mechanical Engineering and Rail Transit, Changzhou University, Changzhou, Jiangsu Province, China.
Summary
This study presents a dynamic model and control strategy for continuum robots, enhancing their motion control in confined spaces. The developed model and strategy successfully achieve robot bending deformation.
Area of Science:
- Robotics
- Mechanical Engineering
Background:
- Continuum robots offer unique flexibility and dexterity, making them suitable for confined environments.
- However, their complex motion modeling and control present significant challenges.
Purpose of the Study:
- To develop a dynamic model for continuum robots to improve control performance.
- To propose a motion control strategy based on the dynamic model.
Main Methods:
- Kinematics and velocity models were derived.
- Inertial, elastic, gravity, and actuation forces were analyzed.
- Friction in the drive system was investigated.
- A dynamic model was established using Kane's method.
Main Results:
- A prototype was simulated and experimentally tested.
- Results verified the accuracy of the proposed dynamic model.
- The control method was also validated through simulation and experiments.
Conclusions:
- The developed dynamic model and control strategy effectively enable bending deformation in continuum robots.
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