Multi-objective optimization for dimensional synthesis of tendon placement and structural design for energy-efficient and feasible static workspace in continuum robots

A B S T R A C T Tendon-driven continuum robots (TDCRs) face a critical trade-off between energy efficiency and static performance for navigating constrained environments, a challenge in medical and industrial applications. This study proposes a bi-objective optimization framework to enhance tendon placement and dimensional synthesis in a two-segment TDCR, featuring seven disks and four tendons per segment. Leveraging a kineto-static model based on piecewise constant curvature (PCC) theory and a multi-objective genetic algorithm (MOGA), radial tendon distances and angular offsets have been optimized. These solutions achieve up to 30 % reduction in mechanical work and a 3 – 5 % workspace expansion, validated through 100 randomized tendon force samples. The results offer practical guidelines for improving TDCR performance in both minimally invasive surgery and industrial inspection.