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Design of a 3D-printed continuum robot with convergent compliant joints for balanced stress distribution
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DOI：10.1016/j.mechatronics.2026.103516.png)
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Abstract
En 中文
The application of tendon-driven continuum robots (TDCR) has rapidly expanded across various engineering fields due to their flexibility and dexterity. Discrete-jointed continuum robots are typically fabricated as segmented modules interconnected by joints, often resulting in extended prototyping timelines and elevated manufacturing costs. Besides, with identical compliant joints along the backbone, the real bending shape of the robot usually is an arc with variable curvature, resulting in uneven stress distribution along robot's backbone. To cope with these problems, we propose a 3D-printed continuum robot incorporating convergent compliant joints, enabling monolithic fabrication and achieving balanced stress distribution along the backbone. Kinematic and kinetostatic analyses demonstrate the flexible manipulation, trajectory accuracy, and sufficient stiffness of the FDM-printed TDCR under varying tendon tensions and external forces. In addition, simulation and experimental results validate that the convergent compliant joint design improves stress distribution along the backbone.
Keywords:
Continuum robotics
Convergent compliant joints
Tendon-driven mechanism
Structural optimization
Kinematic and kinetostatic analyses
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