ロボットの強度向上を目的とした区分的に平均曲率一定な曲面モデルの改良

抄録

Continuum robots with curved shapes, possessing redundant degrees of freedom, are expected to perform differently from robots equipped with rigid links. While considering kinematics along continuous curves complicates calculations, approximating the robot with multiple constant curvature segments simplifies the kinematics. We propose and have developed a model for robotic surfaces that simplifies its kinematics, one of which features a robotic surface with a piecewise constant mean curvature. However, this model lacks strength against external forces, preventing it from maintaining the desired posture according to the model. Herein, we introduce a new model designed to enhance the robot’s strength under the piecewise constant mean curvature assumption and report on the development results.