Continuum Robot Tensegrity Modules for Flexible Grasping
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Solution Overview
Problem
Traditional rigid robots have limited degrees of freedom and poor deformation capacity, making them inadequate for multi-degree-of-freedom movement and flexible grasping of both small and large targets.
Innovation Solution
A multi-degree-of-freedom continuum robot is designed using a tensegrity structural philosophy, comprising a driving device module, a rotary compression module, a bending compression module, and a nimble finger module, which are assembled and controlled to achieve various motion forms and grasping functions through the integration of cables, gears, and elastic elements, mimicking biological structures like DNA helices and trunk muscles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rigid robots are used, then structural stability is maintained, but degrees of freedom are limited and deformation capacity is poor
Solution Approach 1:
The patent employs flexible cables and elastic elements instead of rigid structural components. The robot's body is constructed using cable-driven mechanisms with elastic elements that enable continuous deformation and multi-degree-of-freedom motion while maintaining structural integrity through tension-compression balance characteristic of tensegrity structures.
Solution Approach 2:
The robot transitions from static rigid structures to dynamic flexible structures. The cable-driven system allows real-time adjustment of structural configuration, enabling the robot to adapt its shape and degrees of freedom dynamically based on task requirements while maintaining stability through active control of cable tensions.
2Adaptability or versatility
If traditional rigid robots are used, then manufacturing simplicity is maintained, but deformation capacity is poor
Solution Approach 1:
The robot utilizes flexible cables and elastic elements as primary structural components, replacing complex rigid mechanisms. This approach enables significant deformation capacity while simplifying manufacturing, as flexible components can be produced using standard cable and spring manufacturing processes rather than requiring precision machining of complex rigid joints.
Solution Approach 2:
The cable-driven mechanism functions similarly to pneumatic or hydraulic actuation systems, where tension applied to flexible elements produces controlled deformation. This approach simplifies manufacturing by using readily available cable and pulley components rather than complex rigid actuator mechanisms.
3Adaptability or versatility
If tensegrity structure is adopted, then multi-degree-of-freedom movement is achieved, but device complexity increases
Solution Approach 1:
The robot is divided into modular segments connected by cable-driven joints. Each module contains standardized elastic elements and cable attachment points, allowing multi-degree-of-freedom movement through composition of simple modular units. This segmentation reduces overall device complexity by breaking down the complex tensegrity structure into manageable, repeatable modules.
Solution Approach 2:
The cable-driven mechanism serves multiple functions simultaneously: it provides structural support, enables multi-degree-of-freedom motion, and acts as the actuation system. This multi-functionality reduces device complexity by eliminating the need for separate structural frames and actuator mechanisms required in traditional rigid robots.
4Ease of operation
If modular design is used, then reconfiguration ease is improved, but connection complexity increases
Solution Approach 1:
The robot employs clearly defined modular segments with standardized interfaces. Each module can be independently assembled and disconnected, facilitating easy reconfiguration. The segmentation is achieved through discrete cable routing paths and standardized elastic element connections that simplify module interfacing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves high flexibility in grasping small targets and winding large targets, with modular design facilitating easy reconfiguration and maintenance, and utilizes lightweight components for enhanced performance.
Implementation Method 1
The transverse adjacent movable spherical hinges 4 are connected through the elastic elements I 7
Implementation Method 2
the longitudinal adjacent movable spherical hinges 4 are connected through the driving cables I 5
Data Source
AI summary
A multi-degree-of-freedom continuum robot with a flexible target grasping function comprises a driving device module, a trunk simulation module and a nimble finger module. The trunk simulation module is composed of a rotary compression module and a bending compression module. Each module has a unified connection interface reserved at the end, and is combined and assembled according to actual needs. The driving module is arranged on the base of the robot to realize the driving operation of all cables to control the motion of the robot. The rotary compression module can simultaneously generate the motion in the forms of rotation and compression, thereby compensating for the defect of blind angle of the bending compression module. The bending compression module can realize compression deformation and bending deformation of the module independently. The nimble finger module realizes a grasping function by multi-finger collaboration.