Researchers at Dalian University of Technology have developed a dynamics-driven optimization method to suppress residual vibration in cable-driven continuum robots. These robots, inspired by biological structures like octopus tentacles and elephant trunks, exhibit significant flexibility but suffer from residual vibrations during rapid motion, impacting precision. The team formulated a differential-algebraic equation model using cable length as the driving variable, offering advantages in precision, stability, and intuitive forward dynamics over force-driven approaches.
Key takeaways
- Method reduces maximum residual vibration amplitude from 108.4 mm to 20.1 mm in 1-second high-speed motion, and from 11.1 mm to 0.9 mm in 5-second medium-speed motion, achieving up to 84.5% reduction.
- Analysis of mechanical and geometric parameters shows that higher stiffness/density materials and placing cable holes farther from the center reduce vibration, while variable cross-section designs outperform uniform ones.
- NURBS curve parameterization converts large-scale dynamic optimization into a small-scale parameter problem, enabling efficient solving with controllable energy dissipation.
The method was validated in scenarios like rapid targeting and fast object transfer, demonstrating significant improvements in dynamic performance. This work offers a practical design and control strategy for enhancing the precision and speed of continuum robots in industrial applications.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-05-12 · “绳驱连续型机器人残余振动抑制的动力学驱动优化设计”