Analysis on Cable Fault Tolerance Kinematics Space of Cable-driven Snake-arm Robots
Chen Huiqing
Yang Taiwei
Abstract：Snake-arm robots attract extensive attention and research because of its compact structure,flexible motion and operational ability in narrow space and dangerous working conditions.In this study,coordi-nates are built according to Denavit-Hartenberg(D-H)method based on structure characteristics of cable-driv-en snake-arm robots,and then kinematics analysis is conducted with Monte Carlo method.The reachable space ranges of the cable-driven snake-arm under different modes is simulated by Matlab.The reachable space rang-es have been determined for the intact condition of the cable-driven snake-arm when failure and fracture of any single driving cable are presented in the snake-arm.The results not only reveal the influence of different arm segments on the reachable space of snake-arm robots,but also lay a foundation for the arm segments structure design optimization and the intelligent trajectory planning of the cable-driven snake-arm.
Keywords：Snake-arm robotCable-drivenHyper-redundant DOFSimulation
Publication Date：2024-08-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：6( 64-69 )