Abstract
The continuum robot undergoes extremely high deflection when it is actuated. In this paper, mathematical model of continuum robot has been presented. Here, only the quasi-static analysis is considered neglecting the inertial part. One of major components of this kind of continuum robot is the flexible beam. A thorough analysis of highly-flexible beam has been carried out in this work. Main challenge in this context is to solve the equilibrium/governing equations. In this work, a novel way has been explored to handle flexible beam with multiple point-loads. Specifically, problem becomes extremely complex for the analysis of the multi-segment continuum robot. The similar concept of domain decomposition has been employed to integrate the governing equations. Numerical integration is done by Runge-Kutta 5th order method. The nonlinear boundary value problem in each sub-domain has been solved by shooting method by taking help of the bisection technique. An important issue in domain-decomposition is to pass boundary information among the connected sub-domains. This newly developed method is easily implementable and can handle large number of segments without posing any extra difficulty.
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