Design of a modular continuum robot with alterable compliance using tubular-actuation
Authors: Mingyuan Wang, Liang Du, Sheng Bao, Jianjun Yuan, Jinshu Zhou, Shugen Ma
Abstract
Compliance is good. However, it is challenging for one compliant continuum robot to finish both high precision manipulation and environmental-adapted motions. In this paper, a modular continuum robot with the alterable compliance characteristic is proposed. Besides, an actuation module is also proposed using a tubular-screw mechanism for non-slippage transmission. Kinematic analyses and dynamic co-simulation are performed to study the continuum robot. Furthermore, two potential application scenarios of pick-and-place manipulation and confined space navigating are carried out to demonstrate the advantages of the alterable compliance design. This study presents a capable continuum robotic solution for non-structural inspection tasks, with potential for in-situ applications in restricted and hazardous environments.