Design and Experiment of Spine-like Multi-directional Continuous Manipulators Based on Rolling Contact
Dong Dong
Zhou Liang
Hu Junfeng
Abstract：Aiming at the requirements of rigid and flexible continuum operations in complex and narrow spaces,a spine-like continuum robot is designed based on the principle of rolling foundation,which achieves multi-directional movement of the continuum and reduces the interference between various segments of the continuum during movement while ensuring the rolling contact of the elements of the continuum.After design,the continuum unit has a simple structure and simple process,and uses elastic ropes to connect elements between the units,with multi-axis compliance.The kinematic model of the continuum is established and verified by experiments.The experiments show that the continuum has the ability to move in unstructured environments and adapts well to the environment.
Keywords：Small and complex workspaceContinuous manipulatorRolling contactReduce interfer-ence
Publication Date：2024-05-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 114-121 )