Dynamic research on winding and capturing of tensegrity flexible manipulator

With the rapid development of social intelligence, flexible manipulator has become a typical representative of the intelligent era. However, due to the strong nonlinearity brought about by the high flexibility of the flexible manipulator, as well as the nonsmooth problems it faces during operation such as cable slacking and contact, it poses challenges to its modeling and dynamic analysis. Considering the above difficulties, this article first proposes a modeling strategy for flexible manipulator based on the theory of tensegrity, which can establish a highly flexible manipulator model. Then, based on the theory of nonsmooth multibody systems, a nonsmooth mathematical formula for cable slacking and contact is established to address the nonsmooth phenomena. Finally, a variable cross-section tensegrity flexible manipulator is designed, and the dynamic characteristics of winding and capturing are analyzed. Numerical results validate the effectiveness of the proposed method.