Unlocking the Potential of Cable-Driven Continuum Robots: A Comprehensive Review and Future Directions
Haotian Bai,
Boon Giin Lee,
Guilin Yang,
Wenjun Shen,
Shuwen Qian,
Haohao Zhang,
Jianwei Zhou,
Zaojun Fang,
Tianjiang Zheng,
Sen Yang,
Liang Huang,
Bohan Yu
Affiliations
Haotian Bai
Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, School of Computer Science, University of Nottingham Ningbo China, Ningbo 315048, China
Boon Giin Lee
Nottingham Ningbo China Beacons of Excellence Research and Innovation Institute, School of Computer Science, University of Nottingham Ningbo China, Ningbo 315048, China
Guilin Yang
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Wenjun Shen
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Shuwen Qian
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Haohao Zhang
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Jianwei Zhou
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Zaojun Fang
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Tianjiang Zheng
Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
Sen Yang
Department of Electrical and Electronic Engineering, University of Nottingham Ningbo China, Ningbo 315199, China
Liang Huang
Department of Electrical and Electronic Engineering, University of Nottingham Ningbo China, Ningbo 315199, China
Bohan Yu
Department of Mechanical Engineering, City University of Hong Kong, Hong Kong 999077, China
Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of freedom (DOF), bulky structures, and low manipulability in confined spaces. In contrast, continuum robots, drawing inspiration from biological structures, exhibit characteristics such as high compliance, lightweight designs, and high adaptability to various environments. Among them, cable-driven continuum robots (CDCRs) driven by multiple cables offer advantages like higher dynamic response compared to pneumatic systems and increased working space and higher loading capacity compared to shape memory alloy (SMA) drives. However, CDCRs also exhibit some shortcomings, including complex motion, drive redundancy, challenging modeling, and control difficulties. This study presents a comprehensive analysis and summary of CDCR research progress across four key dimensions: configuration design, kinematics and dynamics modeling, motion planning, and motion control. The objective of this study is to identify common challenges, propose solutions, and unlock the full potential of CDCRs for a broader range of applications.
