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.
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.
the Creative Commons Attribution 4.0 License.
Design and kinematics of a lightweight cruciform continuum robot
Pan Zhou
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Jiantao Yao
CORRESPONDING AUTHOR
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Key Laboratory of Advanced Forging & Stamping Technology and
Science of Ministry of National Education, Yanshan University, Qinhuangdao
066004, China
Hongyu Zhang
Faculty of Science and Engineering, University of Groningen, 9747 AG
Groningen, the Netherlands
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Xuanhao Zhang
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Shuaiqi kong
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
Kunming Zhu
Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China
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Shuai Zhang and Jiantao Yao
Mech. Sci., 17, 481–493, https://doi.org/10.5194/ms-17-481-2026, https://doi.org/10.5194/ms-17-481-2026, 2026
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This work presents a robotic chain that can smoothly shift from flexible to rigid using air pressure. We developed a new method that applies pressure to compact internal fibers, allowing the chain to become significantly stiffer than previous designs. Through theoretical modeling and physical testing, we demonstrated reliable and wide-ranging stiffness control. This advancement enables the creation of machines that are both safe for interaction and capable of performing demanding tasks.
Shuai Zhang, Jiantao Yao, Wumian Zhao, and Chunjie Wei
Mech. Sci., 16, 821–830, https://doi.org/10.5194/ms-16-821-2025, https://doi.org/10.5194/ms-16-821-2025, 2025
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This paper introduces a continuum-based layer jamming model (CLJM) for structures with a large number of layers, treating them as a continuous medium. The CLJM effectively analyzes internal stress distribution and deformation across different mechanical states. Validation via finite-element analysis and experiments shows strong agreement, demonstrating that the CLJM provides an accurate and efficient theoretical tool for designing variable-stiffness applications.
Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, and Yongsheng Zhao
Mech. Sci., 14, 193–207, https://doi.org/10.5194/ms-14-193-2023, https://doi.org/10.5194/ms-14-193-2023, 2023
Short summary
Short summary
A double-layer ring truss deployable antenna mechanism is proposed, which is connected by a scissor-like structure. The degrees of freedom, six-dimensional velocity, and acceleration are calculated using spiral theory, and the dynamic model is established. Simulation software is used to verify the simulation, and the prototype is made at a reduced scale. Because the satellite antenna is very important, we decided to study the supporting frame.
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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.
Lightweight and stable continuum robot design is a challenge. We propose a 65 g continuum robot...