RMCC: Rigid Multi-joint Coupled Continuum Structure for Bionic Robots

Continuum robots, inspired by biological structures such as spines and tails, have attracted significant attention due to their flexibility and ability to perform complex tasks in confined and dynamic environments. However, traditional flexible continuum robots often encounter challenges such as non-linearity, hysteresis, and limited load-bearing capacity, which can compromise their precision and effectiveness in practical applications. To address these limitations, this paper presents a novel bionic continuum mechanism: Rigid Multi-joint Coupled Continuum Structure(RMCC), which employs a rigid mechanical transmission mode to couple all joints, achieving coordinated movement of multiple joints. Its rigid structural composition and transmission method provide it with high precision and load capacity. The coordinated motion of the joints endows it with the dexterity of a continuum mechanism, while also enabling efficient and precise control with a minimal number of motors. The modular joint design improves the system’s scalability and adaptability, enabling a wide range of configurations to suit diverse robotic applications. The feasibility and effectiveness of the proposed system are validated through a series of bio-inspired experiments, including lizardlike crawling, falling-cat movement, and adaptive grasping like birds. The experimental results confirm that the RMCC exhibits the flexibility and adaptability of animals, demonstrating its potential for diverse bionic robotics applications.

Authors

• Zida Zhou
• Ying Wu
• Zujian Chen
• Zetong Bi
• Hui Cheng

Keywords

• Robot kinematics
• Scalability
• Grasping
• Motors
• Robot sensing systems
• Birds
• Biology
• Continuum robots
• Robots
• Testing
• Continuous Structure
• Bionic Robots
• High Precision
• Precise Control
• Dexterity
• Structural Biology
• Joint Movement
• Continuum Mechanics
• Modular Design
• High Loading Capacity
• Multiple Joints
• Load-bearing Capacity
• Adaptation Of Animals
• Number Of Motors
• Degrees Of Freedom
• Coordinate System
• Optimal Control
• Lumbar Spine
• Transformation Matrix
• Linker Length
• Joint Angles
• Shape Memory
• Cervical Vertebrae
• Rigid Segments
• Proximal Interphalangeal
• Gear Ratio
• Inertial Measurement Unit
• Mechanical Design
• Impedance Control