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Short summary
To solve the kinematics mapping problem for the joint space and the drive space of a hyper-redundant manipulator based on flexible cable actuation, which is the key for hyper-redundant manipulators to move strictly according to trajectory planning and avoid obstacles, a decoupling method for kinematics analyses of the flexible cable actuation space and the joint rotation space was proposed.
MS | Articles | Volume 12, issue 2
Mech. Sci., 12, 1017–1026, 2021
https://doi.org/10.5194/ms-12-1017-2021
Mech. Sci., 12, 1017–1026, 2021
https://doi.org/10.5194/ms-12-1017-2021

Research article 23 Nov 2021

Research article | 23 Nov 2021

Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables

Lei Zhang et al.

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Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Bamdad, M. and Bahri, M.: Kinematics and Manipulability Analysis of a Highly Articulated Soft Robotic Manipulator, Robotica, 37, 1–15, https://doi.org/10.1017/S0263574718001376, 2019. 
Bogue, R.: Snake robots: A review of research, products and applications, Industrial Robot., 41, 253–258, https://doi.org/10.1108/IR-02-2014-0309, 2014 
Chettibi, T.: Smooth point-to-point trajectory planning for robot manipulators by using radial basis functions, Robotica, 37, 539–559, https://doi.org/10.1017/S0263574718001169, 2019. 
Cui, Z., Tan, X., Hou, S., and Sun, H.: Non-iterative geometric method for cable-tension optimization of cable-driven parallel robots with 2 redundant cables, Mechatronics, 59, 49–60, https://doi.org/10.1016/j.mechatronics.2019.03.002, 2019. 
Hu, H. and Wang, P.: Kinematic Analysis and Simulation for Cable-driven Continuum Robot, J. Mech. Eng., 46, 1–8, https://doi.org/10.3901/JME.2010.19.001, 2010. 
Publications Copernicus
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Short summary
To solve the kinematics mapping problem for the joint space and the drive space of a hyper-redundant manipulator based on flexible cable actuation, which is the key for hyper-redundant manipulators to move strictly according to trajectory planning and avoid obstacles, a decoupling method for kinematics analyses of the flexible cable actuation space and the joint rotation space was proposed.
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