In order to realize the multi-modal motion of continuum robotic arm and solve the problem that the existing robotic arm can only achieve single bending or rotation, a single-module multi-degree-of-freedom flexible continuum robotic arm based on rolling contact is designed. The rolling contact module was used as the skeleton structure of the bending module in the continuum robotic arm, and the rotating module was installed in the bending module to form a multi-degree-of-freedom robotic arm with independent bending and rotation motions. The kinematics model of the continuum robotic arm was established by the segmented constant curvature method, and its stiffness, bending and rotation properties were analyzed. A continuum robotic arm prototype was prepared, and experiments were carried out on the robotic arm to unscrew bottle caps, switch on the fan, and grasp the object by avoiding obstacles in the three-dimensional space. The experimental results showed that different tasks in complex spatial environment could be accomplished by the combined motion of bending and rotation, which reflected the advantages of the composite motion mode. The designed continuum robotic arm has multi-modal motion, which provides a new idea for the design of multi-degree-of-freedom continuum robotic arms and expands the application scenarios of continuum robotic arms.
Liang ZHOU,Tao WEN,Junfeng HU,Hao ZHOU. Design of single-module multi-degree-of-freedom flexible continuum robotic arm based on rolling contact. Chinese Journal of Engineering Design, 2024, 31(4): 473-482.
Fig.1 Structure comparison of linear driven flexible continuum robotic arms
Fig.2 Single-module multi-degree-of-freedom flexible continuum robotic arm based on rolling contact
Fig.3 Schematic of pose of flexible continuum robotic arm
Fig.4 Experimental platform for flexible continuum robotic arm
Fig.5 Variation curves of bending angle of flexible continuum robotic arm with contraction length of driving rope
Fig.6 Stiffness measurement device for flexible continuum robotic arm
Fig.7 Variation curves of stiffness of flexible continuum robotic arm
Fig.8 Bending angle measurement device for flexible continuum robotic arm
Fig.9 Variation curves of bending angle of flexible continuum robotic arm
Fig.10 Test device for rotating performance of flexible continuum robotic arm
Fig.11 Torque variation curve of flexible continuum robotic arm with bending angle
Fig.12 Experiment scheme of flexible continuum robotic arm unscrewing bottle cap
轨迹点坐标/
mm
弯曲角度/(°)
拉伸/收缩长度/mm
左驱动绳
右驱动绳
(0, 0, -300)
0
0
0
(-120, 0, -160)
71
-27.5
27.5
(100, 0, -175)
65
25.2
-25.2
Table 1Experimental planning parameters of flexible continuum robotic arm unscrewing bottle cap
Fig.13 Motion process of flexible continuum robotic arm unscrewing bottle cap
Fig.14 Experiment scheme of flexible continuum robotic arm switching on fan
轨迹点坐标/mm
弯曲角度/(°)
拉伸/收缩长度/mm
左驱动绳
右驱动绳
(0, 0, -300)
0
0
0
(142, 0, -125)
108
41.8
-41.8
Table 2Experimental planning parameters of flexible continuum robotic arm switching on fan
Fig.15 Motion process of flexible continuum robotic arm switching on fan
Fig.16 Experiment scheme of three-dimensional grasping of flexible continuum robotic arm
抓取平面
轨迹点坐标/mm
弯曲角度/(°)
拉伸/收缩长度/mm
左驱动绳
右驱动绳
前后平面
(0, 0, -300)
0
0
0
(0, 165, -148)
113
43.8
-43.8
左右平面
(0, 0, -300)
0
0
0
(128, 0, -148)
85
32.9
-32.9
(-128, 0, -148)
85
-32.9
32.9
Table 3Experimental planning parameters for three-dimensional grasping of flexible continuum robotic arm
Fig.17 Motion process of three-dimensional grasping of flexible continuum robotic arm
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