A Continuum Robot with Antagonistic and Phase-Variable Stiffness

In order to meet the practical needs of continuum robots for completing different tasks, this study proposes a new type of continuum robot. A kinematic analysis of this continuum robot is carried out. At the same time, this paper combines the two methods of variable stiffness of phase change materials and wire antagonistic variable stiffness with the existing variable stiffness methods of continuum robots. Experiments have proved that the use of phase change materials will increase the antagonistic stiffness, but the torsion brought about by the antagonism itself will weaken the effect of the phase change materials.