Equivalent Dynamic Analysis of a Cable-Driven Snake Arm Maintainer

In this paper, we investigate a design method for cable-driven snake arm maintainer (SAM) and its dynamics modelling. A SAM can provide redundant degrees of freedom high structural stiffness, as well load capacity simplified structure ideal various narrow extreme working environments, such nuclear power plants. However, their serial-parallel configuration cable drive system make the strongly coupled, which is not conducive to accurate control. propose an equivalent modelling coupled dynamic characteristics each joint cable. The traction are forcibly decoupled using force analysis torque transformation. Then, model obtained based on traditional series robot methods (Lagrangian method, etc.). To verify correctness dynamics, simple model-based controller established. addition, prototype produced collect angles forces at different trajectories. Finally, results control simulation tests demonstrate validity model.