Structure Design and its Application of Novel-Anti-deflection Continuous Robot Skeleton

Soft-body continuous manipulator has its advantage of great flexibility and high adaptability. However, it does not possess the characteristic of deflection stiffness, which limits its application. In this paper, a novel design of anti-deflection module is presented, which consists of a serial anti-torsion robot skeleton with multi-sections of anti-deflection modules. Theoretical analysis and experimental results show that the anti-deflection skeleton can follow the bending of six-chamber soft arm in any direction. This research provides a new exploration for the design and application of anti-deflection of continuous manipulators.