用纤维锁死技术让蛇形机器人动态变刚，更安全地穿行狭小空间
JammingSnake: A follow-the-leader continuum robot with variable stiffness based on fiber jamming
- 通过纤维锁死模块实现运动中刚度可调
- 相比传统设计，接触外界维持形状的依赖减少显著
- 适合微创手术和精密工业检测等敏感场景
在脆弱且狭窄的环境中操作时，跟随领头（FTL）运动对连续体机器人至关重要，可最小化对周围环境的作用力，降低损伤风险。本文提出一种新型蛇形机器人设计，通过集成纤维锁死模块（FJM）实现FTL运动。该机器人可在推进和与环境交互过程中动态调节刚度。开发了一种算法，独立控制腱线与FJM插入运动，使机器人在保持形态的同时最小化对周围结构的作用力。为验证设计，对比测试了传统腱驱动机器人与新设计在不同配置下的表现。结果表明，本设计显著减少了对环境接触以维持形状的依赖，凸显其在微创手术（MIS）或工业在位检测等精细场景中的安全高效潜力。
原文摘要 · Abstract (English)
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design of a snake-like robot capable of achieving FTL motion by integrating fiber jamming modules (FJMs). The proposed robot can dynamically adjust its stiffness during propagation and interaction with the environment. An algorithm is developed to independently control the tendon and FJM insertion movements, allowing the robot to maintain its shape while minimizing the forces exerted on surrounding structures. To validate the proposed design, comparative tests were conducted between a traditional tendon-driven robot and the novel design under different configurations. The results demonstrate that our design relies significantly less on contact with the surroundings to maintain its shape. This highlights its potential for safer and more effective operations in delicate environments, such as minimally invasive surgery (MIS) or industrial in-situ inspection.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。