In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots

作     者：Jie Zhang Jiannan Cai Ke Ma Jinzhao Yang Zhigang Wu Haijun Peng Jianing Wu Jie Zhang;Jiannan Cai;Ke Ma;Jinzhao Yang;Zhigang Wu;Haijun Peng;Jianing Wu

作者机构：School of Mechanical EngineeringDalian University of TechnologyDalian116024People’s Republic of China School of Advanced ManufacturingSun Yat-Sen UniversityShenzhen518107People’s Republic of China School of Aeronautics and AstronauticsSun Yat-Sen UniversityShenzhen518107People’s Republic of China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2024年第21卷第4期

页      面：1695-1706页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Shenzhen Science and Technology Program(Grant No.20220817165030002,No.GXWD2021B03) National Natural Science Foundation of China(Grant No.52275298 and No.11922203) 

主　　题：Assembling patterns Continuum robot In-situ reconfiguration Tensegrity structure Varying stiffness 

摘      要：Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between *** limitation can impede the robotic interaction capabilities,especially in specific engineering ***,inspired by the assembling pattern between the femur and tibia in a human knee,we proposed a multidirectional assembling *** strategy encompasses linear,oblique,and orthogonal connections,allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial *** anticipate the final configuration resulting from diverse assembling patterns,we employed the positional formulation finite element framework to establish a mechanical model,and the theoretical results reveal that our customizable strategy can offer an effective route for robotic *** showcased diverse assembling patterns for coping with interaction *** experimental results indicate that our modular continuum robot not only reconfigures its initial profile in situ but also enables on-demand regulation of the final *** capabilities provide a foundation for the future development of modular continuum robots,enabling them to be adaptable to diverse environments,particularly in unstructured surroundings.