Modelling and Analysis of the Spital Branched Flexure-Hinge Adjustable-Stiffness Continuum Robot

• DOI: 10.3390/robotics11050097
• Publication Date: 2022-09-15T03:16:36Z
• Authors: Nan Ma; Stephen Monk; David Cheneler
• Keywords: Work space; Robot end effector

Continuum robots are increasingly being used in industrial and medical applications due to their high number of degrees freedom (DoF), large workspace ability operate dexterously. However, the positional accuracy conventional continuum with a backbone structure is usually low stiffness often-lengthy driving cables/tendons. Here, this problem has been solved by integrating additional mechanisms adjustable within robot improve its mechanical performance, thus enabling it be operated payloads. To support prediction improved performance robot, kinetostatic model was developed considering generalized internal loads that caused deformation flexure-hinge mechanism structural stiffening external on end-effector. Finally, experiments were conducted physical prototypes 2-DoF 6-DoF validate model. It found proposed validates experimental observations an average deviation 9.1% 6.2% for robots, respectively. also kinematic can factor 32.8 adding mechanisms.