A single motor-driven continuum robot that can be designed to deform into a complex shape with curvature distribution

This paper proposes a method to deform a continuum robot into a complex shape with distributed curvature using a single motor drive. This continuum robot can be deformed to a desired shape by placing tendon guides at appropriate intervals. We used several target shapes, including clothoid and sin curves, as well as a circular curve of constant curvature and confirmed that the deformed shapes match them both in the simulation and prototype. This paper proposes two models of continuum robots. One is the Plain Model in which the tendons are parallel to the rod and the Penetration Model in which the tendon penetrates to the rod. By placing the penetrating position(s), this continuum robot can be deformed into a shape with inflection point(s). We designed a mathematical model to simulate the deformed shape of the prototype to obtain the proper placement of the guides and penetration point(s). Through the optimization, it was able to find the parameters that, in most cases, result in the error of less than 4%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$4\%$$\end{document} between the target and deformed shapes on simulation. We applied these conditions to the prototype and evaluated the errors, which were approximately 10%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$10\%$$\end{document}, the same as the related works that use a conventional constant curvature model. We think that the results of this paper can be applied to reduce the number of actuators required and the size and weight of continuum or biomimetic robots.