通过几何结构设计实现远端刚性增强，提升连续体机器人精度。
Distal-Stable Beam for Continuum Robots
- 用三根杆与导引盘构成几何耦合结构，实现刚度梯度分布。
- 远端刚度是中间部位的12倍，比传统悬臂梁高约100倍。
- 无需主动控制即可兼顾柔性和远端稳定，适合精密操作场景。
连续体机器人适用于狭窄空间，但远端刚性不足，在外力下易产生较大姿态误差。本文提出一种新型结构单元——远端稳定梁（Distal-Stable Beam），仅通过几何设计实现显著的刚度梯度，中间段保持柔顺，远端则具备高刚性。该结构由两根平行杆和一根收敛杆组成，通过导引盘约束，引入几何耦合效应，抑制变形模式，维持远端姿态稳定。实验表明，远端刚度为中部的12倍，相较传统悬臂梁提升约100倍。该机制可在不依赖主动刚度调节的情况下，同时实现柔顺性与远端稳定性，为需要安全与高精度协同的连续体机器人提供新设计思路。
原文摘要 · Abstract (English)
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam, which achieves a strong stiffness gradient through purely geometric design, maintaining compliance in the intermediate section while ensuring high distal rigidity. The structure consists of two parallel rods and one convergent rod constrained by guide disks, introducing geometric coupling that suppresses deformation modes and preserves distal posture. Experiments show that the distal stiffness is 12 times higher than at the center, corresponding to an approximately 100-fold improvement over a conventional cantilever beam. The proposed mechanism enables simultaneous compliance and distal stability without active stiffness modulation, providing a new design approach for continuum robots requiring both safety and precision.
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