A Lightweight Modular Segment Design for Tendon-Driven Continuum Robots with Pre-Programmable Stiffness

Tendon-driven continuum robots' inherent flex-ibility which, while advantageous for manoeuvering through confined spaces, leads to reduced stiffness. In addressing this, we introduce a novel modular backbone design, where each segment consists of units employing compliant mechanisms. Three distinct unit designs are proposed, offering modularity to tailor the backbone stiffness. Each unit can bend upto 90 de-grees and is easily manufacturable via 3D printing. A proof-of-concept robot, composed of two segments and 10 modular units, is demonstrated to validate the proposed design. This robot, weighing 78.8 g with a total length of 615.6 mm and a diameter of 40 mm, showcases enhanced stiffness without compromising on flexibility. Through this modular approach, we establish a systematic methodology to customize stiffness in tendon-driven continuum robots, paving the way for broader application and enhanced performance in complex environments.