細索状体の形状を強固に保持可能なワイヤ結束機構

抄録

Continuum robots are suitable structures for operations in difficult-to-reach environments, such as narrow environments or with many obstacles. Holding the shape and changing the stiffness of their body is effective for applying the robot to various situations. However, conventional methods had difficulty to construct high shape-holding performance, thin body, elastic properties, and large bending range. This research proposes a wire binding mechanism called "String Binder" that can firmly hold the shape of the continuum body. The robot mainly consists of a flexible tube, longitudinal wire, and circumferential wires. When the tube is pressurized, the circumferential wire strongly ties the longitudinal wire and locks its position. This paper presents the basic principles of the mechanism and verifies the validity of the concept.