Continuum robots have the advantages of agility and adaptability. However, existing continuum robots have limitations of low stiffness and complex motion modes, and the existing variable stiffness methods cannot achieve a wide range of stiffness changes and fast switching stiffness simultaneously. A continuum robot structure, switching stiffness method, and motion principle are proposed in this article. The continuum robot is made up of three segments connected in series. Each segment comprises multiple spherical joints connected in series, and the joints can be locked by their respective airbag. A valve controls each airbag, quickly switching the segment between rigidity and flexibility. The motion of the segments is driven by three cables that run through the robot. The segment steers only when it is unlocked. When a segment becomes locked, it acts as a rigid body. As a result, by locking and unlocking each segment in sequence, the cables can alternately drive all the segments. The stiffness variation and movement of the continuum robot were tested. The segment's stiffness varies from 36.89 to 1300.95 N/m and the stiffness switching time is 0.25-0.48 s. The time-sharing control mode of segment stiffness and motion is validated by establishing a specific test platform and a mathematical model. The continuum robot's flexibility is demonstrated by controlling the fast bending of different segments sequentially.

中文翻译：

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具有切换刚度的连续体机器人的设计和开发。

连续体机器人具有敏捷性和适应性的优点。然而，现有的连续体机器人存在刚度低、运动模式复杂的局限性，并且现有的变刚度方法无法同时实现大范围的刚度变化和快速切换刚度。本文提出了连续体机器人结构、切换刚度方法和运动原理。连续体机器人由串联的三段组成。每段由多个串联的球形接头组成，各个接头可以通过各自的气囊锁定。每个安全气囊都有一个阀门控制，可在刚性和柔性之间快速切换。这些节段的运动由穿过机器人的三根电缆驱动。该段仅在解锁时才转向。当一个段被锁定时，它充当刚体。因此，通过按顺序锁定和解锁每个分段，电缆可以交替驱动所有分段。测试了连续体机器人的刚度变化和运动。该段的刚度变化范围为36.89至1300.95 N/m，刚度切换时间为0.25-0.48 s。通过建立具体的测试平台和数学模型，对管片刚度和运动的分时控制模式进行了验证。通过顺序控制不同节段的快速弯曲，展示了连续体机器人的灵活性。