滚动接触柔性连续体机器人的设计与运动能力分析

According to the operation requirements of aviation in-situ maintenance in complex and narrow space, a new type of flexible continuum robot based on rolling contact is proposed, which reduces the conflict between the continuum robot's axial rigidity and flexibility. The robot's compliant joints and the system are analyzed detailly. Then two motion strategies are designed based on the redundant DOF of the robot, which are active motion and passive motion respectively. The simulation of the unit joint illustrates that the compliant joint is with matching rotational rigidity and large axial rigidity. The robot is with 600 mm long, the max bending angle is more than 720° and the min bending radius is 40 mm. Experiment results illustrate that the robot can move flexibly and adapt to the environment well.