Design and modelling of a continuum robot with soft stiffness-adjustable elements for confined environments

• DOI: 10.36227/techrxiv.19345547
• Publication Date: 2022-03-16T03:29:12Z
• Authors: NAN MA
• Keywords: Stiffening

<p><i>Abstract</i>—Continuum robots are increasingly used in a wide range of industrial applications due to their slender body and high redundancy, making them ideal for intervention confined environments. However, most the existing continuum operate with backbone cantilever configuration, resulting limited accuracy at tip because low stiffness. This paper proposes new method improve stiffness robots, characterized by: (1) modular section adjustable (MSAS), able inflate its diameter by ten times provide physical support 6-DoF operating section; (2) novel model developed study behaviour hybrid stiffening arm; (3) manual insertion an easy delivery number actuators. The proposed model, which combines characteristics MSAS arm, predicts performance robot average deviation 9.2% under external loads. A prototype has been demonstrated on case Trent 900 aeroengine, where MSAS, natural 12.6 mm, is delivered through inspection hole 13 mm then inflated (120 mm) successfully lock within combustor (width: 200 mm; height: 110 mm). enables accurate operation arm tip, indicating that design can conventional robots. </p>