How to model continuum robots with general tendon routing?

[ZhanchiWang]

Hi there,

I am currently working on a tendon-driven continuum robot project. I'm searching for tools for the modeling and simulation of the robots and have found PyElastica to be a suitable fit.

I have gone through the document to find a suitable Forcing function to simulate the tendon actuation. I have tried MuscleTorques class, but it looks not the same as the cable is pulling.

Can I simulate tendon-driven continuum robots using this software? Is there any Built-in External Forces class suitable for general tendon routing?

Thanks in advance for your help!

[armantekinalp]

Hi @ZhanchiWang ,

You can model tendon-driven robots in PyElastica. However, we do not have any built-in external forces class. You need to write a custom forcing class for that.

If you are planning to model tendons and backbone as separate rods, you can use parallel joint class to connect them.

Let me know if this helps

[ZhanchiWang]

Hi @armantekinalp,

Thank you so much for your reply! I will try to work on it under your direction. Will let you know if I work it out!