Design and kinematics of a lightweight cruciform continuum robot

Abstract. The design of new lightweight and dexterous configurations is a major research focus for continuum robotics. This work proposes cruciform robot. Its unique feature that it formed by multiple cruciform-arranged elastic sheets with single dimension motion connected in series, thus has low-coupling characteristics. In addition, the robot advantages lighter weight (65 g), better dexterity, higher accuracy. this paper, forward inverse kinematics models are established geometric methods based on assumption constant curvature, its workspace analysed. It experimentally verified tip position errors less than 1 mm, cable length 0.4 mm. Further, successfully used nucleic acid detection simulation experiment, which confirms good dexterity man–machine safety. main contribution paper to provide configuration robots, further reference method improving their modelling accuracy from perspective structure.