Modeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework

Modeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Method Article Modeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework Saleh Valizadeh Sotubadi, Shanwu Li, Yongchao Yang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8369301/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract The current research aims to address the vibration issues induced from external excitation in the structures by avoiding the resonance in the structure. Tendon-Driven Continuum Robot (TDCR) configuration is used to both represent the structure and control the externally induced vibrations of the structure. The structural configuration of the TDCR enables its structure to alter the effective stiffness by applying external control force to the tendons in terms of tensile force. The control force changes the overall stiffness of the structure. As a result of the stiffness alterations, the natural frequency of the structure changes and deviates from the frequency of any external source. Two control approaches are utilized in this research. In the first approach Open Loop Control is implemented, while in the second approach Feedback control is developed using Fuzzy Logic Control (FLC) control approaches. The first approach is mostly considered to study the dynamical behavior of the structure when a control force is applied to the structure. The extracted information of the behavior of the structure using the open-loop control approach is then utilized to design a reliable closed loop controller. Both the simulations and the experimental results show that taking the robotic approach to address the vibration in the structures is an effective way since it can both mitigate the vibrations of the structure and reduce the chances of resonance in the structure since the effective stiffness changes as a result of applying control force to the tendons. Robotics Structural Vibration Continuum Robot Fuzzy Logic Control Resonance Full Text Additional Declarations The authors declare no competing interests. Supplementary Files ContinuumRobotManuscript.zip Modeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8369301","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Method Article","associatedPublications":[],"authors":[{"id":560783772,"identity":"d10132fe-5f41-4b2c-95f2-d41314bc2c1f","order_by":0,"name":"Saleh Valizadeh Sotubadi","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAu0lEQVRIiWNgGAWjYHACxgMJQKIfwmEmTg9Yy8wGZlK0gKzacIBYLfIzkh8cePDHTnbztfPHJBgqrBMbCGkxuJFmcCCBJ9l42+1kNgmGM+lEaOE5ANQiwZwI1sLYdpiwFvme4x8OJBjUJ26eDdLyjwgtDMd7gLYkHE7cIA3S0kCEFoPjPQUHEg4cN55xO9nYIuFYujFhhzWzb3z440+1bP/sxIc3PtRYyxJ2GApIIE35KBgFo2AUjAJcAADyxkMLXO6IOwAAAABJRU5ErkJggg==","orcid":"","institution":"Michigan Technological University","correspondingAuthor":true,"prefix":"","firstName":"Saleh","middleName":"Valizadeh","lastName":"Sotubadi","suffix":""},{"id":560783803,"identity":"75c32b2e-385e-453e-9c18-cdcb2fa7fddc","order_by":1,"name":"Shanwu Li","email":"","orcid":"","institution":"Michigan Technological University","correspondingAuthor":false,"prefix":"","firstName":"Shanwu","middleName":"","lastName":"Li","suffix":""},{"id":560783804,"identity":"6aafc961-59a4-47e3-bcb1-5c94b3b4adc2","order_by":2,"name":"Yongchao Yang","email":"","orcid":"","institution":"Michigan Technological University","correspondingAuthor":false,"prefix":"","firstName":"Yongchao","middleName":"","lastName":"Yang","suffix":""}],"badges":[],"createdAt":"2025-12-15 18:44:45","currentVersionCode":1,"declarations":{"humanSubjects":false,"vertebrateSubjects":false,"conflictsOfInterestStatement":false,"humanSubjectEthicalGuidelines":false,"humanSubjectConsent":false,"humanSubjectClinicalTrial":false,"humanSubjectCaseReport":false,"vertebrateSubjectEthicalGuidelines":false},"doi":"10.21203/rs.3.rs-8369301/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-8369301/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":98439927,"identity":"7cc49f7c-53b6-4cc1-aae6-f34d63f9a3f7","added_by":"auto","created_at":"2025-12-17 17:03:05","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":4820632,"visible":true,"origin":"","legend":"","description":"","filename":"ContinuumRobotManuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-8369301/v1_covered_1a4e204a-ec68-476f-8e4e-afef0bad24f7.pdf"},{"id":98362633,"identity":"e7878325-1df1-4243-82f6-d82cc4803562","added_by":"auto","created_at":"2025-12-17 03:16:42","extension":"zip","order_by":1,"title":"","display":"","copyAsset":false,"role":"supplement","size":6330134,"visible":true,"origin":"","legend":"\u003cp\u003eModeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework\u003c/p\u003e","description":"","filename":"ContinuumRobotManuscript.zip","url":"https://assets-eu.researchsquare.com/files/rs-8369301/v1/6901e722488b524e26f5c9d0.zip"}],"financialInterests":"The authors declare no competing interests.","formattedTitle":"\u003cp\u003eModeling and Adaptive Resonance Control of Cantilever Beam Structures Using a Tendon-Driven Continuum Robot Framework\u003c/p\u003e","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":true,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Structural Vibration, Continuum Robot, Fuzzy Logic Control, Resonance ","lastPublishedDoi":"10.21203/rs.3.rs-8369301/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-8369301/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThe current research aims to address the vibration issues induced from external excitation in the structures by avoiding the resonance in the structure. 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