Design, Modeling and Validation of a Tendon-Driven Soft Continuum Robot for Planar Motion Based on Variable Stiffness Structures

Robotic structures based on variable stiffness enable high-performance and flexible motion systems that are inherently safe thus allow Human-Robot Collaboration. This letter presents the design of a robotic structure stiffness. A manipulator is developed using three stiff segments particle jamming with backbone architecture two tendons for an underactuated control whole structure. By switching structural stiffness, able to perform complex planar only one pair tendons, reducing number actuators required. kinematic modeling approach calculation forward kinematics this soft continuum presented, validation real system explained. The simulation performed multibody model (MBS) rigid body elements in combination rotational springs. carried out visual measurements defined target shapes. Simulation experimental results discussed compared also common constant curvature model. MBS-model demonstrates promising position error lower 3% presented under gravity.