a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

An essential problem in developing concentric-tube continuum robots is to determine the shape of the robot, which is dependent on robot structure and external load. A comprehensive model that takes into considerations of influencing factors is hence required. In this work, the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes is s...

We address the potential for continuous “continuum” robot elements to transform the nature of robotic traversal of uneven terrain. Continuum robots are “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges in robot mobility, particularly in unstruc...

In this paper, we examine key issues underlying the design and operation of robots featuring continuous body (“continuum”) elements. We contrast continuum and continuum‐like robots created to date with their counterparts in the natural world. It is observed that natural continuum locomotors or manipulators almost invariably rely on hard or discrete elements (in t...

Continuum robots have been the subject of extensive research due to their potential use in a wide range of applications. In this paper, we propose a new continuum robot with three backbones, and provide a unified analytic method for the kinematics and dynamics of a multiple‐backbone continuum robot. The robot achieves actuation by independently pulling th...

With a compliant structure and excellent bending properties, continuum robot has hyper-redundant degrees of freedom, and can be used in space-constrained environments as the aircraft fuel tank. Therefore, a continuum robot is designed to help crews inspect aircraft fuel tanks, which can improve maintenance efficiency and reduce the intensity of crews. According to the requirements of aircraft f...

In this paper, we present a new control strategy for continuous backbone (continuum) ”trunk and tentacle” robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuu...

Abstract Continuum robots have attracted lots of attention due to their structural compliance, manipulation dexterity, and design compactness. To extend the application scenarios, a slender continuum robot, CurviPicker, was developed for low-load medium-speed pick-and-place tasks in previous study. improve payload capacity positioning accuracy novel Delta Robot (CDR) then proposed with three du...