发表机构
Stanford University（斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种杆驱动连续体螺旋机构，通过对抗伸缩实现柔性与刚性切换，结合可变长度与力锁定增强刚度和工作空间，实验验证180度弯曲、低定位误差及力锁定提升轴向和弯曲刚度。
AI 中文摘要
柔性连续体机构在灵巧导航中的实用性常因其低刚度而受损，使其在高力场景下的操作中效果不佳。为解决这一挑战，我们提出了一种新型连续体机构，通过杆驱动的连续体螺旋结构的对抗性伸缩，实现柔性与刚性行为。该螺旋设计结合了可变长度能力与力锁定，以增强工作空间和刚度。本文中，我们展示了所提出机构的详细设计，并通过量化弯曲和刚度的实验来表征其性能。结果表明，该机构具有180度的弯曲运动范围，平均末端定位误差小于10%。进一步测试表明，力锁定直接提高了轴向刚度，从而间接地各向异性地增加了弯曲刚度，在具有大轴向分量的载荷路径上弯曲刚度最大。张紧驱动杆在力锁定状态下提供了额外的刚度可调性，其中增加杆张力成比例地增加弯曲刚度，无量纲增益为0.56。
英文摘要
The utility of flexible continuum mechanisms for dexterous navigation is often impaired by their low stiffness, making them ineffective at manipulation in high-force scenarios. To address this challenge, we propose a novel continuum mechanism that achieves both flexible and rigid behavior by antagonistic extension and contraction of a rod-driven continuum helical structure. The helical design combines variable-length capacity with force locking for workspace and stiffness enhancement. In this article, we present the detailed design of the proposed mechanism and characterize its performance through experiments that quantify bending and stiffness. The results demonstrate 180 degree bending range of motion with an average distal positioning error of <10%. Further tests demonstrate that force locking directly improves axial stiffness and thus indirectly increases bending stiffness anisotropically, with maximum bending stiffness along load paths with a large axial component. Tensioning the driving rods provides additional stiffness tunability in the force-locked state, where increasing rod tension proportionally increases bending stiffness with a dimensionless gain of 0.56.
Comments7 pages, 9 figures. Submitted to ICRA 2027. Ancillary files contain a supplementary video
