Modeling analysis and simulation of robot active cable

Aiming at the difficulties in verifying the wiring results in the robot wiring design process and the difficulty in predicting the cable shape during the robot motion, a method for modeling physical properties of movable cables has been proposed based on the Kirchhoff elastic rod theory. Taking the Chebyshev polynomial zero as the discrete node, the differential quadrature method was used to discretize the established model, and the constraint equation was added to deal with the boundary conditions, and the original equation was transformed into a nonlinear system of equations. Based on the idea of nonlinear least squares and trust region strategy, a new optimization algorithm was proposed to solve the discrete equations. The calculation results show that, compared with other algorithms, this algorithm has higher calculation efficiency and calculation accuracy.