The 4th International Conference on Electromechanical Engineering (ICEE2022)

November 22-23, 2022

‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

Motion Analysis of a Cylindrical Shaped Cable-Driven Continuum Robot using

The Finite Element Method

Leila BOUSBIA, Ammar AMOURI, Abedelhakim CHERFIA

Department of Mechanical Engineering, Laboratory of Mechanics, Fréres Mentouri Constantine1
University, Algeria
Email: leilabsb3@gmail.com

Abstract: Continuum robot inspired from natural world present a suitable solution in narrow and confined
environment. Due to their flexible and complex architecture, their modeling and design present a great
challenge. In this paper we focus on a class of continuum robot namely Cable-Driven Continuum Robot CDCR.
Ignoring the gravitational effect, initially the motion of a cylindrical CDCR unit is analyzed based on the
constant curvature assumption. The inverse kinematic model has been used to obtain the arc parameters
and the cables length variation. In order to verifier the accuracy of the performed simulation, the obtained
results have been compared with the forward kinematic model. Subsequently, in order to verifier the influence of
the friction effect on the CDCR behavior, the motion of a single section CDCR has been studied. The obtained
results show the efficiency of the performed simulation and the IKM as well as the impact of the friction effect on
the reachable trajectory.
Keywords: cable-driven continuum robot. Constant curvature. Motion analysis. nonlinear dynamic
simulation. friction effect.

5. INTRODUCTION

Bionic research allows researchers to take inspiration from natural behaviors like elephant
trunks, octopus arms, and snakes to create a new architecture, namely a continuum robot able to
adapt to a wide range of environments, including surgery [1], space inspection [2], and aero-
engine repair [3]. However, modeling and design of continuum robots has been a challenge due
to their complexity. Several methods have been used to develop the forward kinematic model.
The constant curvature assumption is the most commonly used to solve the forward kinematic
model FKM for a constant curvature [4] and a variable curvature [5] continuum robots. This
method has also been used to solve the inverse kinematic IKM. Considering each section curve as
a perfect circular arc, the constant curvature assumption is easily used based on the analytical
methods [6]. For a variable curvature continuum robot, the inverse kinematic problem has been
solved based on the constant curvature kinematic assumption CCKA using several methods [7-9].
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

In order to improve the performance of continuum robots, several designs have been built
[2–3, 10–11]. In this paper we focus on a class of continuum robot, namely the Cable-Driven
Continuum Robot (CDCR). This robot is composed of flexible rod constructed from Kevlar [12],
NiTi [13], or composite material [14]. The bending and the deformation of the flexible rod are
controlled by three actuating cables, as example, the Dyneema has been used in [12,14]. A finite
number of rigid disks have been used in order to provide the distance between the flexible rod
and the actuating cables as well as to guide the cables along the robot. In this paper, the flexible
rod and the rigid disks have been constructed using plastic materials. The motion of a CDCR unit
has been analyzed in Solidworks software based on the FEM and verified using the IKM. The
applied force for a single-section CDCR varies from bottom to top due to the contact force
between the guiding holes and the actuating cables; thus, the friction effect has been verified
using the belt friction formula [15].
This paper is organized as follows: Section 2 describes the CDCR design. Based on the
CCKA, the IKM is developed in section 3. Section 4 presents the nonlinear dynamic simulation.
Results are discussed in section 5. Section 6 concludes the paper and gives some perspective.

2. DESCREPTION AND DESIGN OF THE CDCR

In this paper, we focus on the cylindrical-shaped cable-driven continuum robot, namely

CDCR. The proposed design is presented in figure 1. As shown, the proposed CDCR is divided
into two parts: a CDCR body and an actuator system. The CDCR body is composed of one
bending section. The flexibility of the CDCR is provided by a flexible rod divided into eight units
by nine rigid disks Each disk is made of 2 mm in thickness and has three guiding holes of 1 mm
in diameter and spaced at 120°. Three actuator cables pass through the guiding holes used to
apply an actuator force to control the CDCR. In three-dimensional space, the proposed CDCR
has 2 degrees of freedom (DOF), an orientation angle and a bending angle.
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

Figure 1. Design of the cylindrical shaped CDCR

Table 1. Geometric parameters of the CDCR

Parameter Value
𝐿 : robot length 641 mm
𝑑: radial distance between the cables and the flexible rod 29 mm
𝑚: units number 5
𝜇: friction coefficient 0.2

3. INVERSE KINEMATIC MODELING

Due to its simplicity, the constant curvature kinematic assumption (CCKA) is among the
most commonly used methods to solve the kinematic model of a continuum robot. In this section,
the inverse kinematic model of a cylindrical shaped CDCR has been developed based on the
CCKA, considering the CDCR section curves as a perfect circular arc. The CCKA could be
decomposed into two mappings. The specific mapping describes the actuator space (𝑙𝑖,𝑗 )
according to the configuration space (𝜃, 𝜑), thus the relationship between the cable length and
the arc parameters is as follows:
𝑙1,𝑗 = 𝐿𝑗 (1 − 𝑘𝑑𝑐𝑜𝑠(𝜑))
1 √3
𝑙2,𝑗 = 𝐿𝑗 (1 + 𝑘𝑑 (2 𝑐𝑜𝑠(𝜑) + 𝑠𝑖𝑛(𝜑)))
2
(1)
1 √3
𝑙3,𝑗 = 𝐿𝑗 (1 + 𝑘𝑑 (2 𝑐𝑜𝑠(𝜑) − 𝑠𝑖𝑛(𝜑)))
2
{
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

The independent mapping gives the configuration space (𝜃, 𝜑) according to the task
space (𝑋, 𝑌, 𝑍) ; the orientation and the bending angle are expressed as follows:
𝑌
𝜑 = tan−1 ( ) (2)
𝑋
𝐿
𝜃= (3)
𝑘
Where 𝑘 could be expressed as follows:
2√𝑋 2 + 𝑌 2
𝑘= (4)
𝑋2 + 𝑌2 + 𝑍2

4. NONLINEAR DYNAMIC SIMULATION

In this paper, the cylindrical shaped CDCR motion has been analyzed under Solidworks
software using the finite element method. Due to the nonlinearity of the CDCR architecture,
nonlinear dynamic simulation has been used. Under the linear assumption, there is a proportional
relationship between the actuator cable elongation and the applied force. Hence, the simulations
have been performed by applying a following force couple on the end disk. Two simulations are
performed; initially, the motion of the CDCR unit is analyzed under the constant curvature
kinematic assumption. Subsequently, the influence of the friction effect is analyzed. Thus, the
belt friction method has been used [15]. The relationship between the actuator forces 𝐹𝑗−1 and 𝐹𝑗
could be expressed as follows:

𝐹𝑗 = 𝐹𝑗−1 ∗ 𝑒 −𝜇𝛾𝑖,𝑗 (5)

Where:
ℜ𝑗−1 ℜ𝑗−1
ℜ 𝑏𝑖,𝑗−1 − 𝑏𝑖,𝑗
𝑃𝑖,𝑗𝑗−1 = ℜ ℜ (6)
𝑗−1
‖𝑏𝑖,𝑗−1 − 𝑏𝑖,𝑗𝑗−1 ‖
And:
ℜ ℜ
𝛾𝑖,𝑗 = cos −1 (〈𝑃𝑖,𝑗𝑗−1 , 𝑃𝑖,𝑗+1
𝑗−1
〉) (7)
5. SIMULATION RESULTS
In order to analyze the cylindrical shaped CDCR motion, simulation examples have been
performed in Solidworks software using Intel Core i5, 2.60 GHz, 8 Go RAM, and a 64-bit
operating system.
5.1. Motion analysis of single unit CDCR
A motion analysis of a single unit CDCR has been performed based on the constant
curvature assumption CCKA, ignoring the gravitational effect. Thus, in order to actuate the first
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

cable (i.e., the deformation in the 𝑋𝑍 plan), a following force couple on the end disk has been
applied. The applied force is presented in figure (2).

Figure 2. The evolution of the actuating force

In order to verify the performed simulation accuracy, the achievable trajectory obtained
from the motion study and the obtained trajectory from the forward kinematic model based on the
constant curvature assumption are compared. As presented in figure 3, the two curves are very
close; the Euclidian error shows that the maximum absolute error is less than 0.4 mm.

Figure 3. The reachable trajectory and the Euclidian error

A comparison between the obtained bending angle 𝜃 and the orientation angle 𝜑
corresponding to the achievable trajectory using the IKM and that obtained from the FKM is
presented in figure 4. As presented in this figure, the maximum absolute for the bending and the
orientation angle are less than 0.01 and 2.8 ∙ 10−3 respectively.
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

Figure 4. The variation of the bending angle and the orientation angle corresponding on the achievble
trajectory

The cables lenght variation obtained using the inverse kinematic model and that obtained
from the FKM are compared to verify the accuracy of the motion analysis. As shown in figure 5,
a significant convergence between the curves has been observed with a maximuum absolute error
less than 0.2 mm.

Figure 5. The cables legth variation

5.2. Motion analysis of single section CDCR

In order to verify the influence of the friction effect, the motion of a single section
CDCR has been analyzed. Based on the constant curvature assumption, a following force
couple has been applied for each unit. The applied force is presented in figure 6.

Figure 6: The evolution of the actuation force

 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

Ignoring the friction effect, the same force has been applied to all units. In this case, the
arc parameters are similar for all units, sas result, the CDCR curves as a contant curvature.
Considering the friction effect, the applied force decreases from the bottom to the top according
to equation (5); in this case, each unit curves as a perfect circular arc having individual arc
parameters each. This yields a section curve with a variable curvature. The achievable trajectory
is presented in figure 7. As shown, the influence of the friction effect is appear clearly on the
reachable trajectory. The Euclidian error shows that the error between the two curves is less
than150 mm.

Figure 7: Comparison between the reseable trajectory in the two cases and the Euclidean error

5. CONCLUSION

In this paper we focus on a class of continuum robots, namely cable-driven continuum

robots (CDCRs). Two examples of simulation have been performed in Solidowks software using
the finite element method (FEM) based on the constant curvature kinematic assumtion (CCKA)
and ignoring the gravitational effect. Initially, only the motion of a CDCR unit has been
analyzed. The inverse kinematic model has been used to obtain the arc parameters and the cable
length variation. To verify the accuracy of the performed simulation and the developed IKM, the
obtained results have been compared with that of the FKM; the comparison shows the efficacy of
the effected simulation and the accuracy of the IKM. The motion of a single section CDCR has
been analysed to verify the impact of the friction effect. The obtained results show the influence
of the friction effect on the recheable trajectory. As a perspective, we aim to study the motion of
a muti-section CDCR considering the gravitational effect.

REFERENCES
 The 4th International Conference on Electromechanical Engineering (ICEE2022)
November 22-23, 2022
‫ سكيكدة‬- 1955 ‫ أوت‬20 ‫جامعة‬

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