Structure Design and Kinematics Analysis and Experiment of Rope-driven Continuum Robot

In this paper, aiming at the charging scenario of new energy vehicles, a rope-driven continuous robot structure is designed. Combining the modeling methods of flexible robot and winding rigid robot, a kinematic model of rod-driven continuum robot is established, and a method to solve its inverse kinematics is designed according to the pose of the target point given by the continuum robot in the actual scene. A numerical analysis method based on Newton-Raphson method is designed to solve the complex inverse kinematics evaluation problem. The calculated Angle is substituted into the forward kinematics of the continuum robot and the transformation relationship between the driving rope length, and the change of the driving rope length is obtained, so as to achieve the target pose of the robot driven by the driving rope. Through experiments and modeling, the actual results of experimental calculation on a rope-driven continuum robot with a total length of 990mm were compared with the results of kinematics modeling to prove the feasibility of the method. The driving rope can control the continuum robot to achieve the target pose.