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 

机构地区：[1]School of Mechanical Engineering,Dalian University of Technology,Dalian,116024,People’s Republic of China [2]School of Advanced Manufacturing,Sun Yat-Sen University,Shenzhen,518107,People’s Republic of China [3]School of Aeronautics and Astronautics,Sun Yat-Sen University,Shenzhen,518107,People’s Republic of China

出　　处：《Journal of Bionic Engineering》2024年第4期1695-1706,共12页仿生工程学报（英文版）

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).

摘　　要：Modular continuum robots possess significant versatility across various scenarios;however,conventional assembling methods typically rely on linear connection between modules.This limitation can impede the robotic interaction capabilities,especially in specific engineering applications.Herein,inspired by the assembling pattern between the femur and tibia in a human knee,we proposed a multidirectional assembling strategy.This strategy encompasses linear,oblique,and orthogonal connections,allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial configurations.To 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 interactions.We showcased diverse assembling patterns for coping with interaction requirements.The 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 configuration.These capabilities provide a foundation for the future development of modular continuum robots,enabling them to be adaptable to diverse environments,particularly in unstructured surroundings.

关 键 词：Assembling patterns Continuum robot In-situ reconfiguration Tensegrity structure Varying stiffness 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]