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<p>Continuum robots have increasingly attracted attentions owing to inherent compliance and dexterity, which can be utilized for accessing unstructured and confined space. A novel multisection continuum robot connected by unique rigid-compliant combined offset cross revolute joints is presented in this paper, which has high length/diameter radio, well bending capacity and appropriate torsional stiffness. Then, a multilevel kinematic model is established, i.e., the mappings among actuator space, joint space and task space. Particularly, an advanced combined joint-end inverse kinematics algorithm is proposed to effectively reduce errors from approximation of the traditional FABRIK method, which is verified by several numerical simulations. Finally, to further verify structural design and kinematic models, a prototype of the continuum robot is established. Experimental results show that the proposed combined joint-end inverse kinematics algorithm has higher accuracy than traditional FABRIK method, and the continuum robot has well motion performance and load capacity.</p>

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Design, kinematics and validation of a multisection continuum robot connected by offset cross revolute joints

  • 期刊论文

  • 发表日期：

    2025年5月30日

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  • Xuhao Wang,
  • Guanhao Li,
  • Mengli Wu,
  • Yilong Xu,
  • Yiran Cao,
  • Zhiyong Guo,
  • Xiaowei Zhao

摘要

Continuum robots have increasingly attracted attentions owing to inherent compliance and dexterity, which can be utilized for accessing unstructured and confined space. A novel multisection continuum robot connected by unique rigid-compliant combined offset cross revolute joints is presented in this paper, which has high length/diameter radio, well bending capacity and appropriate torsional stiffness. Then, a multilevel kinematic model is established, i.e., the mappings among actuator space, joint space and task space. Particularly, an advanced combined joint-end inverse kinematics algorithm is proposed to effectively reduce errors from approximation of the traditional FABRIK method, which is verified by several numerical simulations. Finally, to further verify structural design and kinematic models, a prototype of the continuum robot is established. Experimental results show that the proposed combined joint-end inverse kinematics algorithm has higher accuracy than traditional FABRIK method, and the continuum robot has well motion performance and load capacity.