A Continuum Robot with Programmable Tendon Routing for Desired Curve Generation
Kehong Zhou, Lifeng Zhu, Jinfeng Wu, Yurui Wen, Aiguo Song, Jessica Zhang
AI summary
Problem
Existing wire-driven continuum robots rely on complex multi-actuator systems that restrict them to simple, constant-curvature arcs, limiting their dexterity and control in confined environments.
Approach
The authors design a modular continuum robot where each joint's yaw and pitch angles are optimized to route a single drive wire, enabling precise generation of desired spatial trajectories through a parametric kinematic framework.
Key results
- Novel programmable tendon routing architecture enabling single-actuator non-constant curvature generation
- Kinematic optimization framework expanding configurational adaptability for task-specific customization
- Modular joint design with standardized interfaces enabling rapid, streamlined assembly
- Simulation and prototype validation achieving relative mean distance errors below 3.12% and 6.67% respectively
Why it matters
Simplifies actuation complexity while enabling precise, task-specific 3D curve generation, offering a practical pathway for minimally invasive surgery and confined-space exploration.
Abstract
Continuum robots are widely employed in confined environments with narrow passages and spatial constraints. How- ever,achievinggeneralcurveswithnon-constantcurvatureremains challenging, as existing systems typically rely on multiple flexible segments arranged in series, coupled with complex drive systems requiring numerous actuators. This letter proposes a novel contin- uum robot design that features a programmable tendon routing capable of generating desired curves. The system integrates modu- lar joints and a single-actuator drive unit, enabling the generation of spatial curves with non-constant curvature. By strategically designing the arrangement of modular joints to control rotational direction and angular deflection at each joint, the system achieves a substantially expanded design workspace compared to conven- tional continuum robots. Simulation and prototype experiments validate the proposed design methodology. The relative mean dis- tance between simulated and desired curve remains below 3.12%, while the prototype demonstrates a relative mean distance of 6.67% from the desired curve. This approach offers a promising path- way to advance continuum robot design by improving configura- tional adaptability while simultaneously achieving complex curve generation and reduced drive system complexity.