Work

Multi-objective optimization for dimensional synthesis of tendon placement and structural design for energy-efficient and feasible static workspace in continuum robots

Year: 2025

Type: article

Abstract: Tendon-driven continuum robots (TDCRs) offer exceptional flexibility for navigating constrained environments, demanding a careful trade-off between energy efficiency and static performance. This study introduces a bi-objective optimization framework for optimal tendon placement and optimal dimensional synthesis in a two-segment TDCR with seven disks per segment and four tendons per segment. Optimization variables include the radial distances of the tendons and the angular offset between adjacent segments, subject to geometric constraints that prevent tendon interference. A kineto-static model based on piecewise constant curvature (PCC) theory evaluates mechanical work and the feasible static workspace. A customized multi-objective genetic algorithm (MOGA) identifies Pareto-optimal solutions that simultaneously reduce mechanical work and expand the workspace. The results validate the effectiveness of asymmetric tendon layouts and simplified design parameters, offering a practical approach for improving TDCR performances in both medical and industrial settings.

Source: Robotics and Autonomous Systems

DOI: 10.1016/j.robot.2025.105300

Authors: Mohammad Jabari, Carmen Visconte, Giuseppe Quaglia, Med Amine Laribi

Institutions: Politecnico di Torino, University of Genoa, Institut Pprime

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: hybrid

Estimated APC paid: $3,140