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Modeling and Design Optimization of Robotic Hoses for 3D Printing of Cement


 Modeling tendon tensions for applications of tendon-actuated continuum robots under significant loading is necessary for sizing motors, tendons, and other components to ensure that the robot can safely support its mass during operation. While models exist that express tendon tensions as a function of continuum robot configuration, previously proposed models do not consider the effects of gravity on tendon tensions. In this paper, we discuss the addition of gravity to a static model previously developed for low-mass tendon-actuated continuum robots. Using the Euler-Lagrange methodology, the potential energy due to gravity is incorporated into the formulation of the equations that describe tendon tensions as a function of robot configuration. Preliminary experimental results reveal the potential of this nonzero-gravity tendon-tension model.