Analysis on the configuration and simulation of a new robot composed with hybrid joints

Traditionally, discrete robot´s performance in flexibility and obstacle avoidance is not very outstanding, while continuum robot cannot load much and its motion space is limited. In this paper, a new robot with hybrid joints was designed based on the two kinds of robots mentioned above. First, the connection mode between discrete and continuum joints was analyzed. It was found that when the axis of the discrete joint was vertical to the tangential direction of the continuum one, the robot´s motion space could be extended. Second, the driving modes of continuum and discrete joints were introduced, and it was also introduced in detail how the continuum joint was controlled by the external ropes. Then the analysis of the dynamics model and kinematics simulation of the continuum joint was carried out, and it was found: There is effect on the control by gravity, and in the same condition, the tension of ropes is relatively larger with gravity. While the continuum joint can move smoothly without gravity and the effect by gravity does not change over the increase of the degree of elastic rod.