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In this paper, we propose a novel continuum robot based on closed loop elastic structure with bending and twisting. The proposed continuum robot consists of an elastic tube and a closed loop arm completely independent from the tube. The closed loop arm is a simple thin belt-shaped elastic strip which has two translational joints and one rotary degree of freedom. Here we found that when the closed...
In this paper, we propose a novel closed loop elastic structure which can generate snap-through buckling with bending and distortion. The proposed mechanical closed loop structure consists of two rotary shafts and a belt-shaped elastic material which two ends are connected to one active rotary shaft and one free joint type shaft, respectively. Driving the active rotary shaft continuously, we can obtain...
In this paper, we propose a robotic catapult based on closed elastica utilizing bending and twisting deformation of an elastic strip. By using snap-through buckling generated from not only bend but also twist of thin rectangle elastic strip, impulsive forces can be generated repeatedly by the frequency of 3[Hz] without changing added torque directions. The compact jumping robot based on the proposed...
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