Feasible Static Workspace Optimization of Tendon Driven Continuum Robot Based on Euclidean Norm

This paper focuses on the optimal design of a tendon-driven continuum robot (TDCR) based on its feasible static workspace (FSW). The TDCR under consideration is a two-segment robot driven by eight tendons, with four tendon actuators per segment. Tendon forces are treated as design variables, while the feasible static workspace (FSW) serves as the optimization objective. To deter-mine the robot’s feasible static workspace, a genetic algorithm optimization app-roach is employed to maximize a Euclidean norm of the TDCR’s tip position over the workspace. During the simulations, the robot is subjected to external loads, including torques and forces. The results demonstrate the effectiveness of the pro-posed method in identifying optimal tendon forces to maximize the feasible static workspace, even under the influence of external forces and torques.