Bio-Inspired Design and Motion Planning of a Multi-Coiled Cable-Driven Robot with Excellent Exploration Reachability

Bio-Inspired Design and Motion Planning of a Multi-Coiled Cable-Driven Robot with Excellent Exploration Reachability | Authorea try { document.documentElement.classList.add('js'); } catch (e) { } var _gaq = _gaq || []; _gaq.push(['_setAccount', 'G-8VDV14Y67G']); _gaq.push(['_trackPageview']); (function() { var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true; ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js'; var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s); })(); Skip to main content Preprints Collections Wiley Open Research IET Open Research Ecological Society of Japan All Collections About About Authorea FAQs Contact Us Quick Search anywhere Search for preprint articles, keywords, etc. Search Search ADVANCED SEARCH SCROLL This is a preprint and has not been peer reviewed. Data may be preliminary. 13 March 2025 V1 Latest version Share on Bio-Inspired Design and Motion Planning of a Multi-Coiled Cable-Driven Robot with Excellent Exploration Reachability Authors : Te Li [email protected] , Jiaxin Li , Xu Li , Haibo Liu , and Yongqing Wang Authors Info & Affiliations https://doi.org/10.22541/au.174188968.84282703/v1 242 views 140 downloads Contents Abstract Supplementary Material Information & Authors Metrics & Citations View Options References Figures Tables Media Share Abstract Traditional manual inspection and operational maintenance methods for industrial equipment and infrastructure face multifaceted technical challenges. Although robots demonstrate superior operational efficiency and safety compared to human operators, existing solutions remain limited by inadequate reachability and insufficient structural compactness. To solve this problem, inspired by the coiling behavior of arboreal snakes, a multi-coiled cable-driven robot (MC-CDR) with enhanced structural compactness and excellent exploration reachability is designed. The robot consists of a rotating platform, six fully constrained rigid links driven by double-cable synchronous traction module, and a rotating base. A multi-level kinematics mapping framework is established to express complex motion relationships. A variable degree-of-freedom kinematic model (VDOFKM) is developed to solve the motion interference problem of the coiled redundant robot by dynamically determining the minimum number of activated joints. Based on the VDOFKM, a multi-constraint motion planning (MCMP) method is proposed to realize global path planning in complex environments, which integrates joint constraints, base constraints and obstacle avoidance constraints. Simulation results demonstrate that MCMP achieves superior computational efficiency, smoother joint configurations, and less motion compared to conventional methods. Additionally, the MCMP enables continuous collision-free joint configurations acquisition during path tracking. The prototype experiments validate that the integration of VDOFKM and MCMP equips MC-CDR with higher solution efficiency, excellent environmental reachability and maneuverability in complex environments. Supplementary Material File (bio-inspired design and motion planning of a multi-coiled cable-driven robot with excellent exploration reachability.doc) Download 68.72 MB Information & Authors Information Version history V1 Version 1 13 March 2025 Copyright This work is licensed under a Non Exclusive No Reuse License. Keywords inspection robots kinematics robotics systems design Authors Affiliations Te Li [email protected] Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing View all articles by this author Jiaxin Li Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing View all articles by this author Xu Li Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing View all articles by this author Haibo Liu Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing View all articles by this author Yongqing Wang Dalian University of Technology State Key Laboratory of High-Performance Precision Manufacturing View all articles by this author Metrics & Citations Metrics Article Usage 242 views 140 downloads .FvxKWukQNSOunydq8rnd { width: 100px; } Citations Download citation Te Li, Jiaxin Li, Xu Li, et al. Bio-Inspired Design and Motion Planning of a Multi-Coiled Cable-Driven Robot with Excellent Exploration Reachability. Authorea . 13 March 2025. DOI: https://doi.org/10.22541/au.174188968.84282703/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu . 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