Design, Modeling, and Experimental Validation of a Bio-Inspired Rigid–Flexible Continuum Robot Driven by Flexible Shaft Tension–Torsion Synergy

Design, Modeling, and Experimental Validation of a Bio-Inspired Rigid–Flexible Continuum Robot Driven by Flexible Shaft Tension–Torsion Synergy

This paper presents a bio-inspired rigid–flexible continuum robot driven by flexible shaft tension–torsion synergy, tackling the trade-off between actuation complexity and flexibility in continuum robots. Inspired by the muscular arrangement of octopus arms, enabling versatile multi-degree-of-freedo...

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Bibliographic Details
Main Authors: Jiaxiang Dong, Quanquan Liu, Peng Li, Chunbao Wang, Xuezhi Zhao, Xiping Hu
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Biomimetics
Subjects:
octopus arm inspired actuation
continuum robot
rigid–flexible hybrid robot
tensile–torsional synergistic actuation
kinetostatic modeling
flexible shafts
Online Access:https://www.mdpi.com/2313-7673/10/5/301
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