A Novel Approach for Reducing Actuators in Soft Continuum Robots and Manipulators

Abstract

AbstractSoft continuum robots and manipulators are elongated structures that employ several actuators to move and articulate their bodies. The dexterity of these mechanisms is directly related to the number of actuators they employ; a larger number of actuators increase dexterity. However, increasing the number of actuators results in a higher cost, increased complexity, and reduced reliability. This paper presents an approach to reduce the number of required actuators in soft continuum robots or manipulators while maintaining the same level of dexterity. The approach is based on employing fewer actuators in a specific configuration enabling the robot or manipulator to access the same workspace as previously achievable with the conventional models. The presented approach is thought to transform the design methodology of continuum robots and manipulators, thus reducing their cost, and complexity, while improving their reliability.KeywordsSoft roboticsDesign methodologyContinuum structuresRobotic manipulators