1segment continuum manipulator for automatic harvesting robot - prototype and modeling

This paper describes a new type of continuum manipulator and a modeling method. The developed manipulator has an elastic center column and springs are installed outside the center column. New mechanism can avoid unexpected shape and twisting according to the handling weight. We make a new model of continuum manipulator and analyses such an unexpected motion. The property of model is proved by the compart scene with experiments. The developed manipulator can change the stiffness of spring. Moreover, new model with consideration of influence from weights and stiffness of the manipulator has been made and introduced. With the mechanism, the manipulator can bend without twisting. In addition, the model enables to design optimal manipulator for some works.