Continuum manipulator motion model taking into account specifics of its design

Abstract

The paper discusses the kinematic model continuum of the manipulator of the original design, as well as the issues of its application in the synthesis of the control system. The links of the manipulator are built on the basis of solid-state elements in contact with each other on the surface of a spherical shape and connected with the help of flexible cables. The operational characteristics of the manipulator (size and shape of the workspace, service and manipulation factors) are easily adjusted to technical requirements by changing the geometric parameters of the elements and their number in the links, as well as changing the number of links themselves. The complexity of controlling such a manipulator is determined by the need to obtain and process a significant amount of information about the state of the manipulator and its components. Due to the impossibility of obtaining explicit information about the position of the link elements relative to each other, it is proposed to compensate for this drawback by synthesizing an exact kinematic model. The authors propose such a link model, which takes into account rolling friction between link elements and the preliminary tension of the cables to ensure structural integrity in the entire range of motion. The results of the calculations revealed the peculiarities of the link movement in its entire range.