Static Modeling of Continuum Robots by Circular Elements

This paper presents a new modeling approach for continuum robotic arms. A lot of efforts have been done on modeling statics and dynamics of continuum robots, and two main methods have been developed. One is suitable for static modeling, in in-plane loadings, where the sections of a robot experiences constant moments along their length. The other method is the Theory of Cosserat rod, which gives a set of differential equations for statics and dynamics of slender flexible rods. While this method provide suitable models for statics of continuum robots, its dynamic models are not practical, in the sense of numerical calculations. The modeling approach proposed in this paper is based on dividing the robot into many circular elements. Using this approach, modeling of the statics of continuum robots will be presented. Then, the proposed model will be validated using experimental data, to show the precision of the model. Finally, the merit and potentials of this method will be discussed, in conclusion.