Design of Continuum Robot Based on Compliant Mechanism

Abstract

As a new type of bionic special robot, continuum robot has the characteristics of multi-degrees of freedom, good flexibility, large length-diameter ratio and strong adaptability to the environment. The compliant mechanism has the advantages of simple structure, free from assembly, and has a certain stiffness, which is very suitable for the design of continuum robot. However, due to the limitation of its own structure, its bending angle is small, it cannot fully meet the requirements of the joint bending angle of continuum robot. In this study, a continuum robot design based on compliant mechanism was proposed. The remote center motion mechanism was used as the continuum robot joint, and the joint configuration was dominated by trapezoidal leaf in series. The structural dimensions of the leaf were optimized. Then the kinematics model of the robot is established based on piecewise constant curvature theory. Finally, the compressive stiffness, joint stiffness of the compliant joint, and the kinematic performance of the continuum robot were explored through simulation and experiment. The rationality of joint configuration design and stiffness design, as well as the applicability of the kinematic model were verified.