A translational parallel continuum robot reinforced by origami and cross-routing tendons

Charles Troeung, Chao Chen

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther


We introduce an origami-reinforced parallel continuum robot which is capable of maintaining the orientation of the end effector regardless of the bending shape. The cross-routing tendons provide an effective actuation of the robot because the constant length of the backbones prevent the actuation of parallel arrangement of tendons. We utilise the arclength relationship of parallel curves to show that parallel backbones of equal lengths and constant spacing between the backbones enable the constant orientation of the end effector. The origami shell is introduced to increase the torsional stiffness of the continuum robot and minimise any twisting. This leads to planar and parallel bending of all backbones. Planar quintic Pythagorean Hodograph curves are utilised for shape reconstruction, which is more accurate as compared to the curves with piecewise constant curvatures. The concept of this continuum robot and the accuracy of the reconstruction are validated experimentally.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation 2021
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)9781728190778
Publication statusPublished - 2021
EventIEEE International Conference on Robotics and Automation 2021 - Online, Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


ConferenceIEEE International Conference on Robotics and Automation 2021
Abbreviated titleICRA 2021
Internet address

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