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A bioinspired fishbone continuum robot with rigid-flexible-soft coupling structure.

Pan Zhou1, Jiantao Yao1,2, Shuai Zhang1

  • 1Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, 066004,People's Republic of China.

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Summary
This summary is machine-generated.

This study introduces a novel fishbone-inspired continuum robot, utilizing a unique rigid-flexible-soft backbone for enhanced dexterity and precise modeling. The robot demonstrates excellent performance in tasks like obstacle navigation and transport.

Keywords:
bioinspired fishbonecable-driven mechanismscontinuum robotrigid-flexible-soft coupled

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Area of Science:

  • Robotics
  • Bio-inspired Engineering
  • Mechanical Engineering

Background:

  • Rigid-flexible-soft coupled robots present significant design and modeling challenges.
  • Existing continuum robots often lack the dexterity and precise control required for complex tasks.

Purpose of the Study:

  • To propose a novel cable-driven single-backbone continuum robot inspired by fishbone structures.
  • To address the challenges in modeling and control of continuum robots through bio-inspired design.

Main Methods:

  • The robot features a middle backbone composed of serially arranged, cross-arranged bio-inspired fishbone units.
  • Multi-material 3D printing was employed to create the rigid-flexible-soft fishbone units.
  • Geometric analysis was used to develop forward and inverse kinematics models.

Main Results:

  • The proposed robot exhibits a compact structure, light weight, and high dexterity.
  • Kinematics model prediction errors were within 0.5 mm compared to experimental results.
  • The robot demonstrated successful obstacle crossing locomotion and narrow space transportation.

Conclusions:

  • The bio-inspired fishbone unit design enables constant curvature characteristics and reduced motion coupling.
  • The developed kinematics model provides a foundation for accurate theoretical modeling and controllable deformation.
  • This work offers innovative approaches for bio-inspired continuum robot design and high-precision modeling.