Design of Claw-Type Continuum Robot Based on Rigid Flexible Coupled Structure

In-situ grinding of aeroengine blades holds crucial significance for the safe and stable work of aeroengines. Traditional boreblending tools possess the articulated tip with a single degree of freedom, rendering them inflexible and inefficient. Continuum robots are well-suited for this task, with the advantages of being slender and flexible. In this study, we introduce a claw-type rigid-flexible coupled continuum robot that employs the design principle of contact-aided compliant mechanisms. Flexible NiTi rods and claw bosses form the rigid flexible coupled mechanism. The interaction between the claws and circular bosses restricts the motion of the joints while providing robust torsional resistance. Simultaneously, the limitation of the maximum torsional angle enhances its load-bearing capability. This paper elucidates the design principles, establishes the kinematic model, and obtains the workspace of this structure.