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<p>Continuum manipulators typically feature a circular cross-section backbone. While this geometry offers structural symmetry, it lacks directional constraints, resulting in undesired bending in non-target directions and consequently reducing control accuracy and load stability. To overcome this limitation, this study presents a cable-driven continuum manipulator based on an orthogonal configuration. The two adjacent sections are connected in series by rectangular flexible beams and arranged orthogonally. This configuration enables motion decoupling by allowing independent bending in two perpendicular planes. Based on the piecewise constant curvature assumption and the homogeneous transformation method, a unified mapping relationship among the actuation space, configuration space, and task space is established. The reachable workspace is computed using a Monte Carlo method. End-point positioning experiments with a prototype show that the maximum positional error is 3.03% of the arm length. Additionally, decoupling performance tests confirm effective motion separation, demonstrating the structure’s benefits in enhancing motion stability. Finally, spatial trajectory tracking simulations are performed to analyze the dynamic variation of cable length across different paths.</p>

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Kinematic analysis and experimental validation of a cable-driven continuum manipulator based on an orthogonal configuration

  • 期刊论文

  • 发表日期：

    2026年5月21日

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  • Jiayuan Zhao,
  • Siqi Rong,
  • Xingang Zhang,
  • Shucui Zhang,
  • Wenli Yao

摘要

Continuum manipulators typically feature a circular cross-section backbone. While this geometry offers structural symmetry, it lacks directional constraints, resulting in undesired bending in non-target directions and consequently reducing control accuracy and load stability. To overcome this limitation, this study presents a cable-driven continuum manipulator based on an orthogonal configuration. The two adjacent sections are connected in series by rectangular flexible beams and arranged orthogonally. This configuration enables motion decoupling by allowing independent bending in two perpendicular planes. Based on the piecewise constant curvature assumption and the homogeneous transformation method, a unified mapping relationship among the actuation space, configuration space, and task space is established. The reachable workspace is computed using a Monte Carlo method. End-point positioning experiments with a prototype show that the maximum positional error is 3.03% of the arm length. Additionally, decoupling performance tests confirm effective motion separation, demonstrating the structure’s benefits in enhancing motion stability. Finally, spatial trajectory tracking simulations are performed to analyze the dynamic variation of cable length across different paths.