Design and Analysis of Flexible Manipulator based on Lattice Structure

In this paper, a flexible manipulator based on lattice structure is proposed, which can realize multiple bending motions through the arrangement and combination of lattice units. To explore the deformation characteristics of this flexible manipulator, the mathematical model of the deformation for the manipulator is established through the assumption of piece wise constant curvature. Furthermore, the manipulator model is simulated to obtain the end trajectory or the maximum bending bangle of the manipulator by the UG software. Finally, the design's accuracy and effectiveness are validated through a comparative analysis of the experiment and simulation. The results shows that the designed manipulator present excellent flexible properties, offering a novel approach to the design of flexible manipulators.