Design of Continuous Backbone, Cable-Driven Robots

[+] Author and Article Information
Changquing Li

Department of Mechanical Engineering, Clemson University, Clemson, SC 29634  

Christopher D. Rahn

Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802

J. Mech. Des 124(2), 265-271 (May 16, 2002) (7 pages) doi:10.1115/1.1447546 History: Received June 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.


Baillieul, J., 1985, “Kinematic Programming Alternatives for Redundant Manipulators,” Proc. IEEE Int. Conf. on Robotics and Automation, St. Louis, March 25–28, pp. 722–728.
Carignan,  R. Craig, 1991, “Trajectory Optimization for Kinematically Redundant Arms,” J. Rob. Syst., 8, No. 2, pp. 221–248.
Robinson, G., and Davies, J. B. C., 1999, “Continuum Robots—A State of the Art,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2849–2854.
Hirose S., 1993, “Biologically Inspired Robots,” Oxford University Press.
Koren,  Y., and Shan,  Y., 1993, “Design and Motion Planning of a Mechanical Snake,” IEEE Trans. Syst. Man Cybern., 23, No. 4, pp. 1091–1100.
Kyriakopoulos,  K. J., Migadis,  G., and Sarrigeorgidis,  K., 1999, “The NTUA Snake Design, Planar Kinematics, and Motion Planning,” J. Rob. Syst., 16, No. 1, pp. 37–72.
Chirikjian,  G. S., and Burdick,  J. W., 1994, “A Model Approach to Hyperredundant Manipulator Kinematics,” IEEE Trans. Rob. Autom., 10, No. 3, pp. 343–354.
Chirikjian,  G. S., and Burdick,  J. W., 1994, “The Kinematics of Hyperredundant Robot Locomotion,” IEEE Trans. Rob. Autom., 11, No. 6, pp. 781–793.
Burdick,  J. W., Radford,  J., and Chirikjian,  G. S., 1995, “A Sidewinding Locomotion Gait for Hyperredundant Robots,” Advanced Robotics, 9, No. 3, pp. 195–216.
Walker, I., and Hannan, M., 1999, “A Novel Elephant’s Trunk Robot,” AIM’99, Piran-Portoroz, Slovenia, pp. 410–415.
Hannan, M., and Walker, I., 2000, “Novel Kinematics for Continuum Robots,” 7th International Symposium on Advances in Robot Kinematics, Piran-Portoroz, Slovenia.
Stoker, J. J. “Differential Geometry,” 1969, John Wiley & Sons Inc., New York.
Love, A. E. H., 1944, “A Treatise on the Mathematical Theory of Elasticity,” Dover Publications, New York.


Grahic Jump Location
(a) Continuous backbone robot with two sections, four cable pairs, and 14 segments; (b) Schematic diagram of a continuous backbone cable-driven robot
Grahic Jump Location
Kinematics for h=0.05: (a) Constant curvature (dashed), nonlinear (solid) and experimental ( * ) nondimensional endpoint vertical displacement y(1) versus tension T; (b) Numerical (dashed) and experimental (solid) upper cable length lU versus tension T for h=0.05; (c) Theoretical and experimental segment shapes at T=7 and 14
Grahic Jump Location
Solution space for nonlinear kinematics: Constant curvature model error contours (solid lines), eyelet contact limit (hatched line) and multiple solution region (gray)
Grahic Jump Location
Numerical (solid line) and experimental ( * ) maximum beam tip displacement ymax(1) versus height h
Grahic Jump Location
Cable slack: (a) The maximum cable slack SLMAX versus the nondimensional height h; (b) The upper cable length lU, lower cable length lL, and slack SL versus tension T(h=0.3) with the  * , o, + denoting the experimental points of lU,lL, and SL, respectively
Grahic Jump Location
Load capacity: (a) Numerical (solid line) and experimental (+) maximum load capacity w versus eyelet height h with torque loading m=0 (top), 0.5 (middle) and 1 (bottom); (b) Vertical displacement y(1) versus tension T for applied force w=0.5 (solid) and 2.5 (dashed); (c) Segment displacement for T=8 and w=0.5; (d) Segment displacement for T=8 and w=2.5



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In