Unlocking the Potential of Cable-Driven Continuum Robots: A Comprehensive Review and Future Directions

Author:

Bai Haotian1234ORCID,Lee Boon Giin1ORCID,Yang Guilin235ORCID,Shen Wenjun235,Qian Shuwen235,Zhang Haohao235,Zhou Jianwei236,Fang Zaojun23,Zheng Tianjiang23ORCID,Yang Sen4,Huang Liang4,Yu Bohan7ORCID

Affiliation:

1. Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, School of Computer Science, University of Nottingham Ningbo China, Ningbo 315048, China

2. Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China

3. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo 315201, China

4. Department of Electrical and Electronic Engineering, University of Nottingham Ningbo China, Ningbo 315199, China

5. University of Chinese Academy of Sciences, Beijing 100049, China

6. Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo 315211, China

7. Department of Mechanical Engineering, City University of Hong Kong, Hong Kong 999077, China

Abstract

Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of freedom (DOF), bulky structures, and low manipulability in confined spaces. In contrast, continuum robots, drawing inspiration from biological structures, exhibit characteristics such as high compliance, lightweight designs, and high adaptability to various environments. Among them, cable-driven continuum robots (CDCRs) driven by multiple cables offer advantages like higher dynamic response compared to pneumatic systems and increased working space and higher loading capacity compared to shape memory alloy (SMA) drives. However, CDCRs also exhibit some shortcomings, including complex motion, drive redundancy, challenging modeling, and control difficulties. This study presents a comprehensive analysis and summary of CDCR research progress across four key dimensions: configuration design, kinematics and dynamics modeling, motion planning, and motion control. The objective of this study is to identify common challenges, propose solutions, and unlock the full potential of CDCRs for a broader range of applications.

Funder

National Natural Science Foundation of China

Zhejiang Provincial Key Research and Development Plan

Publisher

MDPI AG

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