Design and modeling of a multi-backbone continuum robot with a large extension ratio
Li, Xinge Wang, Yukun Wu, Ke Xu, Yi Cao, Xunuo Feng, Tao Chen, Tong Jin, Piaopiao Wang, Zhe Xue, Yaoting
Li, Xinge
Wang, Yukun
Wu, Ke
Xu, Yi
Cao, Xunuo
Feng, Tao
Chen, Tong
Jin, Piaopiao
Wang, Zhe
Xue, Yaoting
Supervisor
Department
Robotics
Embargo End Date
Type
Journal article
Date
2025
License
Language
English
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
Multi-backbone continuum robots (MBCRs), operated through parallel elastic rods, offer superior compliance compared to rigid robots and improved reliability over tendon-driven continuum robots. Despite their high performance in flexible manipulation, MBCRs have been underutilized on mobile robotic platforms due to packaging constraints. In this work, we present a novel MBCR design with a large extension ratio, comprising two extensible sections connected in series. Each section is equipped with intermediate constraints, providing significant length variability and omnidirectional bending capabilities. To analyze the robot’s kinematics, we develop a modeling approach based on Euler–Bernoulli beam theory and Lagrangian mechanics, enhanced with an optimization-based solution method. To validate our design and model, we construct an MBCR prototype with an extension ratio of 5.0. Both theoretical and experimental validations demonstrate that intermediate constraints significantly expand the workspace of the extensible sections and reduce the compressive force on the rods. Additionally, we evaluate the feasible space of the model and test the robot’s capability in path following, with an average deviation of only 1.3% when tracking a spatial helix path.
Citation
X. Li et al., “Design and modeling of a multi-backbone continuum robot with a large extension ratio,” Mechanism and machine theory, vol. 206, pp. 105935-, 2025, doi: 10.1016/j.mechmachtheory.2025.105935
Source
Mechanism and Machine Theory
Conference
Keywords
Multi-backbone continuum robot, Parallel structure, Extensible structure, Geometrically nonlinear Euler–Bernoulli beam theory, Large deflections, Lagrangian mechanics
Subjects
Source
Publisher
Elsevier