Design and Development of a Continuum Robot with Switching-Stiffness

Continuum robots have the advantages of agility and adaptability. However, existing continuum robots have limitations of low stiffness and complex motion modes, and the existing variable stiffness methods cannot achieve a wide range of stiffness changes and fast switching stiffness simultaneously. A continuum robot structure, switching stiffness method, and motion principle are proposed in this article. The continuum robot is made up of three segments connected in series. Each segment comprises multiple spherical joints connected in series, and the joints can be locked by their respective airbag. A valve controls each airbag, quickly switching the segment between rigidity and flexibility. The motion of the segments is driven by three cables that run through the robot. The segment steers only when it is unlocked. When a segment becomes locked, it acts as a rigid body. As a result, by locking and unlocking each segment in sequence, the cables can alternately drive all the segments. The stiffness variation and movement of the continuum robot were tested. The segment's stiffness varies from 36.89 to 1300.95 N/m and the stiffness switching time is 0.25-0.48 s. The time-sharing control mode of segment stiffness and motion is validated by establishing a specific test platform and a mathematical model. The continuum robot's flexibility is demonstrated by controlling the fast bending of different segments sequentially.