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Design and Development of a Continuum Robot with Switching-Stiffness
Donghua Shen1, Qi Zhang2, Yali Han1
1School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing, China.
Soft Robotics
|May 15, 2023
Summary
This study introduces a novel continuum robot with segmented, airbag-locked joints for adaptable stiffness and controlled motion. It achieves rapid stiffness switching, overcoming limitations of current designs.
Area of Science:
- Robotics
- Mechanical Engineering
- Materials Science
Background:
- Continuum robots offer agility but suffer from low stiffness and complex motion control.
- Existing variable stiffness methods struggle to achieve both wide stiffness ranges and fast switching.
Purpose of the Study:
- To propose a novel continuum robot structure with a rapid stiffness switching mechanism.
- To enable simultaneous control over stiffness variation and complex motion modes.
Main Methods:
- A series-connected, three-segment continuum robot design utilizing airbag-locked spherical joints.
- A time-sharing control strategy for sequential segment locking/unlocking to enable motion.
- Experimental validation using a test platform and mathematical modeling.
Main Results:
- Achieved a stiffness variation from 36.89 to 1300.95 N/m.
- Demonstrated fast stiffness switching times between 0.25 and 0.48 seconds.
- Validated the time-sharing control for sequential segment actuation and bending.
Conclusions:
- The proposed continuum robot effectively addresses limitations in stiffness and motion control.
- The novel design allows for a wide range of stiffness and rapid switching, enhancing adaptability.
- This approach enables precise control over robot flexibility and motion through sequential segment manipulation.
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