Structural Design and Analysis of a Wire-Driven Robot with a Double-Wire Coaxial Drive Mode

Wire-driven robots have wide applications. The structure of the driver is simple but bulky, with too many motors and no tensioning mechanism. A driver for a dual-wire coaxial wire-driven robot is proposed. The principle is that the extension and contraction amounts of the mirror-symmetrically distributed driving wires are equal. Based on this principle, a wire-driven hyper-redundant robot and a continuum robot with a dual-wire coaxial driving method are designed, and their kinematic models are established and analyzed. Based on the design method, a hyper-redundant robot and a continuum robot with a dual-wire coaxial driver are fabricated, and their motion performance is tested. The test results show that the wire-driven robot based on the dual-wire coaxial driver conforms to the kinematic analysis, proving that the dual-wire coaxial driving method is correct and efficient.

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Publication Details

Published
2025-08-10
DOI
https://doi.org/10.1109/wrcsara68202.2025.11194964
Primary Topic
Soft Robotics and Applications
Type
article
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article

Structural Design and Analysis of a Wire-Driven Robot with a Double-Wire Coaxial Drive Mode

Yuanzheng Hou, Junchen Wang, Xiaofei Ma, Changsheng Li et al.
Soft Robotics and Applications
article

Structural Design and Analysis of a Wire-Driven Robot with a Double-Wire Coaxial Drive Mode

Yuanzheng Hou, Junchen Wang, Xiaofei Ma, Changsheng Li, Shaolong Kuang, Young Sun Yi, Baiquan Su, Wenyong Liu, Anqi Chen, Yida David Hu, Jie Tang
article en

Abstract

Wire-driven robots have wide applications. The structure of the driver is simple but bulky, with too many motors and no tensioning mechanism. A driver for a dual-wire coaxial wire-driven robot is proposed. The principle is that the extension and contraction amounts of the mirror-symmetrically distributed driving wires are equal. Based on this principle, a wire-driven hyper-redundant robot and a continuum robot with a dual-wire coaxial driving method are designed, and their kinematic models are established and analyzed. Based on the design method, a hyper-redundant robot and a continuum robot with a dual-wire coaxial driver are fabricated, and their motion performance is tested. The test results show that the wire-driven robot based on the dual-wire coaxial driver conforms to the kinematic analysis, proving that the dual-wire coaxial driving method is correct and efficient.

Beijing Institute of Technology (CN), Brigham and Women's Hospital (US), Harvard University (US), Beijing University of Posts and Telecommunications (CN), Capital Medical University (CN), Shenzhen University Health Science Center (CN), Shenzhen Technology University (CN), Beihang University (CN)
Openalex Percentile: Top 72%
Soft Robotics and Applications
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