Design And Analysis Of A Trunk-like Continuum Robot With Hybrid Joints

Traditionally, discrete robot’s performance in flexibility and obstacle avoidance is not very outstanding. While continuum robot cannot load much and its motion space is limited, although it can carry out changeable and flexible movement. Based on the study of continuum and discrete joints robot, the idea was proposed that a new kind robot is composed with the two kinds of joint robots, and the robot was studied and designed.In this paper, based on the study of the space of the hybrid joint continuum robot, the mechanical structure was designed. It was completed how the robot was controlled and the analysis of the kinematics and dynamics simulation. After then, the prototype of the robot was made. The main work and contributions of this paper include:1. It was analysed in detail, the different connection methods between the discrete joint and the continuum joint. Through the analysis of the movement space of different connection methods, it was found that when the axis of the discrete joint was vertical to the tangential direction of the continuum one, the robot’s motion space could be extended.2. The analysis of the dynamics simulation of the continuum joint was carried out, and it was found:There is effect on the control by gravity, and in the same condition, the tension of ropes is relatively larger with gravity. While the continuum joint can move smoothly without gravity. Because the effect by gravity does not change over the increase of the degree of elastic rod, a simple method was put forward to compensate the influence of gravity.3. The characteristics of the line drive was analysed, and it was analysed and calculated in detail how to control the robot with the ropes. And the method of the robot’s motion control was put forward.Finally, the full paper was summarized, the current problems in the study were analyzed, and the further research suggestions and prospects were proposed.