Principle and Performance Analysis of Soft Continuum Robot with Large Range Variable Stiffness Based on Spherical Particles

Abstract

In the field of robots, soft continuum robots have strong adaptability, and rigid continuum robots have large carrying capacity, but they all have some limitations. The purpose of this paper is to solve the problems of small carrying capacity of soft continuum robots and low safety of rigid continuum robots. Based on the combined action of particle jamming and fiber jamming, we use the good fluidity of spherical particles and the rigidity of spherical particles to realize the flexibility and rigidity of the robot, and put forward the requirement of flexible contact and rigid bearing. According to the large range variable stiffness actual demand, a self-locking soft continuum robot with large range variable stiffness based on the jamming phenomenon is proposed, and the principle of large range variable stiffness is explained. Then the model experiment prototype is designed and manufactured. Based on the model, the combination elastomer is defined. The basic unit is constructed and the theoretical analysis is carried out, and the equivalent of the combination elastomer stiffness model is obtained. Finally, an experimental test system is built. Through the experiment and simulation of variable stiffness, the stiffness change of combination elastomer is obtained, and the specific situation of bearing capacity change is recorded. This study provides a new method to achieve a wide range of stiffness changes, and builds a bridge from soft continuum robots to rigid continuum robots.