Mechanism Design and Experimental Validation of a Novel Rigid-Flexible Hybrid Continuum Robot with a Tension-Torsion Synergistic Actuation

doi:10.3969/j.issn.1004-132X.2026.05.019

China Mechanical Engineering ›› 2026, Vol. 37 ›› Issue (5): 1193-1198.DOI: 10.3969/j.issn.1004-132X.2026.05.019

Mechanism Design and Experimental Validation of a Novel Rigid-Flexible Hybrid Continuum Robot with a Tension-Torsion Synergistic Actuation

DONG Jiaxiang¹(), ZHAO Xuezhi¹, HU Xiping², LIU Quanquan²^,³()

^1.School of Mechanical and Automotive Engineering，South China University of Technology，Guangzhou，510641
^2.Artificial Intelligence Research Institute & Guangdong-Hong Kong-Macao Joint Laboratory，Shenzhen MSU-BIT University，Shenzhen，Guangdong，518172
^3.Department of Neurology，The First Affiliated Hospital of Shenzhen University，Shenzhen，Guangdong，518035

Received:2024-10-23 Online:2026-05-25 Published:2026-06-09
Contact: LIU Quanquan

一种软轴拉扭协同驱动的新型刚柔混联连续体机器人机构设计与实验验证

董佳祥¹(), 赵学智¹, 胡希平², 刘铨权²^,³()

^1.华南理工大学机械与汽车工程学院, 广州, 510641
^2.深圳北理莫斯科大学人工智能研究院&粤港澳联合实验室, 深圳, 518172
^3.深圳大学第一附属医院神经内科, 深圳, 518035

通讯作者: 刘铨权
作者简介:董佳祥，男，1997年生，博士研究生。研究方向为微创手术机器人创新设计与精准控制。E-mail： 202110183011@mail.scut.edu.cn
刘铨权^*（通信作者），男，1984年生，副教授。研究方向为智能机器人与系统集成、医疗机器人机构综合与控制。E-mail： quanquanliu@smbu.edu.cn。
基金资助:
国家自然科学基金(61963007);广东省基础与应用基础研究基金(2023A1515012427);广东省基础与应用基础研究基金(2023A1515140026);深圳市科技计划(JCYJ20210324122200002);广东省医学科学技术研究基金(A2021169);广东省医学科学技术研究基金(B2023109);深圳市大鹏新区医疗健康集团医疗卫生科研项目(DPJTKY202306)

Abstract

Abstract:

Combining a dual-segment flexible body and a single-segment rigid body， a novel rigid-flexible hybrid continuum robot mechanism was designed by utilizing the tension-torsion synergistic actuation of flexible shafts， which realized 6 tension-torsion power inputs from the flexible shafts and a 7-degree-of-freedom motion output. The bending configurations of the flexible segments were controlled by the pulling motion of the flexible shafts， while the motions of the terminal rigid joint were controlled through their twisting motion. An experimental platform was built to experimentally validate the physical performance of the prototype. Experimental results show that the mechanism demonstrates flexible multi-DOF bending capability and a good load-carrying capacity. In repeatability experiments， the maximum standard deviations for the single and dual-segment continuum robot account for 1.62% and 7.66% of the manipulator's length， respectively， which verifies that the robot mechanism design possesses good positioning stability and reliability.

Key words: flexible shaft, tension-torsion synchronous drive, rigid-flexible hybrid mechanism, continuum robot, experimental validation

摘要：

利用软轴良好的拉扭协同驱动特点设计了一种结合“双段柔性体+单段刚性体”的新型刚柔混联连续体机器人机构，实现了6根软轴拉扭动力输入与7自由度运动输出。该机构通过软轴的牵拉运动来控制柔性段的弯曲形态，利用扭转运动来控制末端刚性关节运动。搭建了实验平台并对该机构的物理性能进行了实验验证。实验结果表明，该机构具有灵活的多自由度弯曲能力和良好的负载能力；重复性实验中，单/双段连续体机器人最大标准差分别仅占机械手长度的1.62%和7.66%，验证了该机器人机构设计具有良好的定位稳定性和可靠性。

关键词: 软轴, 拉扭协同驱动, 刚柔混联机构, 连续体机器人, 实验验证

CLC Number:

TP242

DONG Jiaxiang, ZHAO Xuezhi, HU Xiping, LIU Quanquan. Mechanism Design and Experimental Validation of a Novel Rigid-Flexible Hybrid Continuum Robot with a Tension-Torsion Synergistic Actuation[J]. China Mechanical Engineering, 2026, 37(5): 1193-1198.

董佳祥, 赵学智, 胡希平, 刘铨权. 一种软轴拉扭协同驱动的新型刚柔混联连续体机器人机构设计与实验验证[J]. 中国机械工程, 2026, 37(5): 1193-1198.

Figures/Tables 9

Fig.1 Rigid-flexible hybrid continuum robot module

Fig.2 Schematic diagram of the robot's degrees of freedom configuration

Fig.3 The structure of rigid-flexible hybrid continuum robot with coaxial tension-torsion synergistic actuation

Fig.4 Experimental platform for the rigid-flexible hybrid continuum robot

Fig.5 Bending function experiment of the single-segment continuum robot prototype

Fig.6 Bending function experiment of the dual-segment continuum robot prototype

Fig.7 Validation of load capacity for the continuum robot prototype

Fig.8 Repeatability of the single-segment continuum robot prototype along the x， y， and z axes

Fig.9 Repeatability of the dual-segment continuum robot prototype along the x， y， and z axes

References 16

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Mechanism Design and Experimental Validation of a Novel Rigid-Flexible Hybrid Continuum Robot with a Tension-Torsion Synergistic Actuation

一种软轴拉扭协同驱动的新型刚柔混联连续体机器人机构设计与实验验证

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