Design, Kinematic Modeling, and Validation of a Helical-Coiled Multi-Segment Flexible Continuum Robot

Abstract The design and analysis of continuum robots have consistently been a prominent research focus in the field of mechanics. However, portable continuum robots with minimal spatial occupancy, which have great potential for applications such as search and rescue, are scarcely available. This paper presents a novel helical-coiled multi-segment flexible continuum robot featuring helical deployment and compact design, with an integrated framework for structural design, kinematic modeling, and experimental validation. The design of the helical-coiled multi-segment flexible continuum robot for unstructured environment detection, including a flexible body, an actuation module, a feed module, and a sensing module, is presented systematically. Kinematic models of both single- and multi-segment continuum robots were established based on the constant curvature model to analyze the parameter mapping relationship from the end-effector position and orientation to the driving inputs. Furthermore, the feedforward motion of the robot was examined, and an uncoiling strategy based on S-curve compensation was employed to complete the kinematic analysis. Finally, the accuracy of the kinematic model considering the active uncoiling feed motion was validated through experimental analysis, demonstrating the motion characteristics of the continuum robot. Altogether, this study provides a framework for the design and analysis of helical-coiled continuum robots.