Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-99-2023
https://doi.org/10.5194/ms-14-99-2023
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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Cited articles

Al-Fahaam, H., Nefti-Meziani, S., Theodoridis, T., and Davis, S.: The Design and Mathematical Model of a Novel Variable Stiffness Extensor-Contractor Pneumatic Artificial Muscle, Soft Robot., 5, 576–591, https://doi.org/10.1089/soro.2018.0010, 2018. 
Alqumsan, A. A., Khoo, S., and Norton, M.: Robust Control of Continuum Robots Using Cosserat Rod Theory, Mech. Mach. Theory, 131, 48–61, https://doi.org/10.1016/j.mechmachtheory.2018.09.011, 2019. 
Bajo, A. and Simaan, N.: Hybrid motion/force control of multi-backbone continuum robots, Int. J. Robot. Res., 35, 422–434, https://doi.org/10.1177/0278364915584806, 2016. 
Bamotra, A., Walia, P., Prituja, A. V., and Ren, H.: Layer-Jamming Suction Grippers With Variable Stiffness, J. Mech. Robot., 11, 035003, https://doi.org/10.1115/1.4042630, 2019. 
Bieze, T. M., Largilliere, F., Kruszewski, A., Zhang, Z., Merzouki, R., and Duriez, C.: Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators, Soft Robot., 5, 348–364, https://doi.org/10.1089/soro.2017.0079, 2018. 
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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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