Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

作     者：LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng LIU Hong;WANG HaiRong;FAN ShaoWei;YANG DaPeng

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150001China 

基　　金：supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51521003) the National Natural Science Foundation of China(Grant No.51875114) 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2020年第63卷第8期

页      码：1549-1559页

摘      要：Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

主 题 词：continuum robots biologically inspired robot flexible arm stiffness kinematics 

学科分类：080202[080202] 08[工学] 0804[工学-材料学] 0802[工学-机械学] 

核心收录：

D　O　I：10.1007/s11431-020-1677-8

馆 藏 号：203956315...