Research on Bending and Torsion Properties of Bionic Square Continuum Robot

2018 
Continuum robot, often taking inspiration from biomimetics, is an exciting novel research field and has great capability. The higher stiffness continuum robot may be inspired by the biology, such as seahorse, pipefish and pipehorse, which has both strong skeleton and great dexterity. In this paper, we present a novel square continuum robot (SCR), according to the simplified model of those square shape fish, in which both the bending curvature and torsional angle are controllable. The idea is to employ square components to mimic the armor and connected those components with ball pair and soft skin. The bending and twisting capabilities of SCR are explored in both numerical model and prototype, while a comparison has been done to analysis the dexterity difference in different situations. Based on the numerical model, relationship between angle-moment in pure bending and angle-torque in pure torsion are shown respectively in simulation curve. This topic is expected to provide a type of new structure for continuum robot, which not only expands the dexterity, but also make the robot stiffer, and provide basic for the further study.
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