Study on Quasi-Static Modeling and Path Tracking of Cable-Driven Continuum Robots

Zhang Ke; Zhang Shucui; Zhao Jiayuan; Zhang Xingang; Yao Wenli; Wang Guifei

doi:10.21656/1000-0887.460093

Volume 47 Issue 7

Jul. 2026

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Article Navigation > Applied Mathematics and Mechanics > 2026 > 47(7): 869-885

Zhang Ke, Zhang Shucui, Zhao Jiayuan, Zhang Xingang, Yao Wenli, Wang Guifei. Study on Quasi-Static Modeling and Path Tracking of Cable-Driven Continuum Robots[J]. Applied Mathematics and Mechanics, 2026, 47(7): 869-885. doi: 10.21656/1000-0887.460093

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Study on Quasi-Static Modeling and Path Tracking of Cable-Driven Continuum Robots

doi: 10.21656/1000-0887.460093

1. School of Science, Qingdao University of Technology, Qingdao, Shandong 266525, P.R. China;
2. Zhongtong Bus Holding Co., Ltd., Liaocheng, Shandong 252000, P.R. China

Funds:

12272197)

The National Science Foundation of China(12202224

Received Date: 2025-05-09
Rev Recd Date: 2025-10-11

Available Online: 2026-07-23

Abstract

Abstract

The actuation hysteresis effect caused by cable-hole sliding friction is one of the critical challenges limiting the multi-functional and multi-domain applications of cable-driven continuum robots. During trajectory tracking, the driving cables undergo frequent switching between winding and unwinding, leading to repeated reversals of sliding friction within the guiding holes. As a result, the current configuration of the flexible arm varies significantly depending on the actuation history. A quasi-static model for the cable-driven continuum robot was developed based on the dynamics theory of flexible multibody systems. A nodal force equilibrium equation with decoupled rigid and flexible motions was established, and the tangent stiffness matrices for both nodal forces and cable driving forces were rigorously derived to enhance the convergence rate of the equilibrium equation. The trajectory tracking problem was formulated as a servo constraint problem in multibody systems. A nonlinear least-squares solver incorporating the Newton-Raphson iterative algorithm was employed to conduct path tracking simulations under both loaded and unloaded end-effector conditions. The configuration evolution law of the continuum robot was thereby obtained.
- cable-driven continuum robot,
- quasi-static modeling,
- hysteresis,
- sliding friction,
- path tracking

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References(21)

References

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