Abstract
Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices.
Highlights
Soft and continuum robots have great potential in a variety of applications, from small-scale surgical manipulators that can maneuver through confined pathways within the human body (BurgnerKahrs et al, 2015) to large-scale arms that can interact with people and manipulate objects (Fathi et al, 2019; Nguyen et al, 2019)
Note that the load-deflection data in Figures 12E,F is for two unit cells connected; the slope of this fit is reduced by half to determine (GA)x and (GA)y for a single unit cell
We can see that the experimental shear rigidities (GA)x and (GA)y are approximately 2.53 and 7.65 times greater than the axial rigidity AE
Summary
Soft and continuum robots have great potential in a variety of applications, from small-scale surgical manipulators that can maneuver through confined pathways within the human body (BurgnerKahrs et al, 2015) to large-scale arms that can interact with people and manipulate objects (Fathi et al, 2019; Nguyen et al, 2019). In curved configurations, out-of plane transverse loads cause significant deflection due to torsional deformation at the base and along the length, in addition to bending deflection. These deformations occur in part due to the underconstrained nature of typical continuum robot actuation, and in part due to insufficient torsional stiffness. We route the actuation rods in both parallel and converging paths to eliminate the main underactuated bending modes. This creates a 5-DOF robot, as shown in Figures 1 A,B, capable of both bending and translation motions with high output stiffness throughout its workspace.
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