Design and analysis of a novel hybrid-driven continuum robot with variable stiffness

Edward Harsono,Jun Yang,Shounak Bhattacharya,Haoyong Yu

Mechanism and Machine Theory（2022）

引用 3|浏览26

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摘要

•Hybrid-driven variable stiffness continuum robot with dual-plane constraint design.•Independent robot stiffness regulation and endpoint positioning.•Stiffness independent of PMA radius, making design extensible to multiple sections.•Static model for describing the robot's behavior.

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关键词

Continuum robot,Hybrid actuation,Variable stiffness,Statics,Physical human-robot interaction

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