文章基本信息

标题：Current Trends and Prospects in Compliant Continuum Robots: A Survey
本地全文：下载
作者：Shiyao Li ; Guangbo Hao
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2021
卷号：10
期号：7
页码：145
DOI：10.3390/act10070145
出版社：MDPI Publishing
摘要：Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a traditional serial robot, they have more degrees of freedom and can deform their flexible bodies to go through a constrained environment. In this paper, we classify CCRs according to basic transmission units. The merits, materials and potential drawbacks of each type of CCR are described. Drive systems depend on the basic transmission units significantly, and their advantages and disadvantages are reviewed and summarized. Variable stiffness and intrinsic sensing are desired characteristics of CCRs, and the methods of obtaining the two characteristics are discussed. Finally, we discuss the friction, buckling, singularity and twisting problems of CCRs, and emphasise the ways to reduce their effects, followed by several proposing perspectives, such as the collaborative CCRs.
关键词：compliant continuum robots; basic transmission units; drive systems; variable stiffness; sensing compliant continuum robots ; basic transmission units ; drive systems ; variable stiffness ; sensing