<p>The continuum robot is a robot with an elastic structure and infinite degrees of freedom, capable of continuous bending without any discrete joints or rigid linkages. The continuum robot has excellent bending properties, can change its shape flexibly, and has good adaptability to non-structural environments. Origami technology can fold simple two-dimensional planes into complex three-dimensional geometries. In this paper, a flexible continuum robot based on origami and mortise-tenon structure (FCRBOM) was proposed. The robot is composed of a series of flexible hinges based on origami and mortise-tenon structure (FHBOM). The design process of the FCRBOM was given. The compliance of the FCRBOM was analyzed by the compliance matrix method and FEA. The stress plot, angle plot, and flexibility of the robot were obtained. Compared with the theoretical results, the finite element analysis results are consistent with the theoretical results and prove the correctness of the theoretical analysis. Finally, a spatial FCRBOM (SFCRBOM) was designed. The influence of key dimensional parameters on the flexibility of SFCRBOM was explored. Then a model of SFCRBOM with higher flexibility was given. This paper focuses on the investigation of the feasibility of FCRBOM, while future work involves the control and experimentation of more complex SFCRBOM.</p>

Design and Analysis of Flexible Continuum Robot Based on Origami and Mortise-Tenon Structure (FCRBOM)

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

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