Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 1
Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-99-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-99-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 1
Research article
 | 
02 Mar 2023
Research article |  | 02 Mar 2023

Design and kinematics of a lightweight cruciform continuum robot

Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu

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Latest update: 03 Sep 2026
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Short summary
Lightweight and stable continuum robot design is a challenge. We propose a 65 g continuum robot formed using cruciform-arranged elastic sheets. It has low coupling, better bending characteristics in the deformation direction, and a large load capacity in the non-deformation direction, providing a new configuration for lightweight and dexterous continuum robots. Its kinematics model accuracy is experimentally verified. Nucleic acid detection demonstration proves its dexterity and adaptability.
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