Design, construction, and analysis of a continuum robot

摘要

This paper proposes a novel approach in the design, construction and analysis of a continuum robot. The paper examines the drawbacks of two existing designs and proposes a new mechanical design that uses a single latex rubber tube as the central member, providing a design that is both simple and robust. Next, a new, simplified method of modeling kinematics is introduced. A novel verification procedure is then applied to examine the validity of the proposed model in two different domains of applicability and could be used to verify many other models that are constructed based on similar assumptions. Finally, a two-level electrical control scheme enables rapid prototyping.