Dynamic Modeling for a Continuum Robot With Compliant Structure

Abstract

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance and safety. However, the modeling and control of such robots are complex in comparison with conventional rigid ones. This paper presents the design of a pneumatically actuated continuum robot. A 3-dimensional dynamic model is then developed by using the mass-damper-spring system based networks, in which elastic deformation, actuating forces and external forces are taken into account. The model is validated by experiments and shows good agreement with the robotic prototype.