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In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots

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Abstract

Modular continuum robots possess significant versatility across various scenarios; however, conventional assembling methods typically rely on linear connection between modules. This limitation can impede the robotic interaction capabilities, especially in specific engineering applications. Herein, inspired by the assembling pattern between the femur and tibia in a human knee, we proposed a multidirectional assembling strategy. This strategy encompasses linear, oblique, and orthogonal connections, allowing a two-module continuum robot to undergo in-situ reconfiguration into three distinct initial configurations. To anticipate the final configuration resulting from diverse assembling patterns, we employed the positional formulation finite element framework to establish a mechanical model, and the theoretical results reveal that our customizable strategy can offer an effective route for robotic interactions. We showcased diverse assembling patterns for coping with interaction requirements. The experimental results indicate that our modular continuum robot not only reconfigures its initial profile in situ but also enables on-demand regulation of the final configuration. These capabilities provide a foundation for the future development of modular continuum robots, enabling them to be adaptable to diverse environments, particularly in unstructured surroundings.

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Data Availability

The datasets used or analyzed during the current study are available from the corresponding author upon reasonable request.

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Acknowledgements

This work was supported by the Shenzhen Science and Technology Program (Grant No. 20220817165030002, No. GXWD2021B03), and National Natural Science Foundation of China (Grant No. 52275298 and No. 11922203).

Funding

National Natural Science Foundation of China, No. 52275298, Jianing Wu, No. 11922203, Haijun Peng,Shenzhen Science and Technology Program, No. 20220817165030002, Jianing Wu, No. GXWD2021B03, Jianing Wu

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Author notes

  1. Jie Zhang

    Present address: School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, People’s Republic of China

  2. Jie Zhang and Jiannan Cai These authors contributed equally to this study.

Authors and Affiliations

  1. School of Advanced Manufacturing, Sun Yat-Sen University, Shenzhen, 518107, People’s Republic of China

    Jie Zhang, Jiannan Cai & Jianing Wu

  2. School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, 518107, People’s Republic of China

    Jie Zhang, Ke Ma, Jinzhao Yang, Zhigang Wu & Jianing Wu

  3. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, People’s Republic of China

    Haijun Peng

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  1. Jie Zhang
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Contributions

Z.W., H.P., and J.W. conceived the concept. J.Z. and J.Y. performed the simulations. J.Z., J.C., and K.M. carried out experiments and data processing. J.Z. and J.W. analyzed the data and interpreted the results. H.P., and J.W. directed the project. All authors commented on the article.

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Correspondence to Haijun Peng or Jianing Wu.

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Zhang, J., Cai, J., Ma, K. et al. In Situ Reconfiguration of Assembling Pattern for Modular Continuum Robots. J Bionic Eng (2024). https://doi.org/10.1007/s42235-024-00523-5

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