Leveraging Geometry to Enable High-Strength Continuum Robots

Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of motion. In this work, we explore how the load capacity of continuum robots can drastically be improved through a combination of backbone design and convergent actuation path routing. We propose a rhombus-patterned backbone structure composed of thin walled-plates that can be easily fabricated via 3D printing and exhibits high shear and torsional stiffness while allowing bending. We then explore the effect of combined parallel and converging actuation path routing and its influence on continuum robot strength. Experimentally determined compliance matrices are generated for straight, translation and bending configurations for analysis and discussion. A robotic actuation platform is constructed to demonstrate the applicability of these design choices.