 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 13288 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8164
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| In English (Mech. Solids): | | 5124 |
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| Zhonghui Wei, Naijun Zhang, Zhengwei Yue, Boran Zhou, Yuxia Li, and Zonggao Mu, "An Adaptive Smoothing RRT Method for Path Planning of Concentric Cable-Driven Manipulators," Mech. Solids. 60 (4), 2962-2979 (2025) |
| Year |
2025 |
Volume |
60 |
Number |
4 |
Pages |
2962-2979 |
| DOI |
10.1134/S0025654425601417 |
| Title |
An Adaptive Smoothing RRT Method for Path Planning of Concentric Cable-Driven Manipulators |
| Author(s) |
Zhonghui Wei (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Naijun Zhang (Research and Development Center, Shandon Jite Industrial Technology Co., Ltd., Rizhao, 262300 China)
Zhengwei Yue (Research and Development Center, Shandon Jite Industrial Technology Co., Ltd., Rizhao, 262300 China)
Boran Zhou (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000 China)
Yuxia Li (Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000 China)
Zonggao Mu (School of Mechanical Engineering, Shandong University of Technology, Zibo, 255000; Institute of Modern Agricultural Equipment, Shandong University of Technology, Zibo, 255000 China; Research and Development Center, Shandon Jite Industrial Technology Co., Ltd., Rizhao, 262300 China; Zibo Key Laboratory of Collaborative Robots, AUBO(Shandong) Intelligent Robot Co., Ltd., Zibo, 255400 China, muzonggao@163.com) |
| Abstract |
Concentric cable-driven manipulators (CCDMs) are dexterous enough to be widely used in confined space. While how to adaptively plan a smooth end path for CCDMs has become a key issue. In this paper, an Adaptive Smoothing Rapidly exploring Random Trees (AS-RRT) method is proposed for path planning of CCDMs. Firstly, the binocular vision is used to detect the target node and obstacles to further establish complete coordinates of oral environment. Secondly, the sampling convergence optimization strategy and the target gravitational bias strategy are detailed to adaptively optimize the target orientation and convergence speed. Thirdly, the polynomial smoothing optimization function is used to prune redundant branch paths and improve the smoothness of planned paths. Finally, experiments are carried out to verify the proposed method. Results show that errors between the actual path and the planned path of CCDMs are less than 1.055 mm. In that case the feasibility of the AS-RRT method for path planning of CCDMs is verified. In addition, the method is applicable not only to CCDMs, but also to many cable-driven manipulators with similar configurations. |
| Keywords |
Concentric cable-driven manipulators, RRT, Path planning, Obstacle avoidance |
| Received |
25 March 2025 | Revised |
26 May 2025 | Accepted |
26 May 2025 |
| Link to Fulltext |
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