Flexible Sliding-teeth-array Mechanism for Hollow Joint Module with Smooth Outline

This study proposes a flex-hollow mechanism that maintains a smooth silhouette while it stretches and bends. In general, robots with moving mechanisms are either of a combination of rigid parts or a mechanism covered with passively deforming soft material. Thus, it is challenging to make robots inherently flexible and smooth. The key feature of our mechanism is an array of longitudinally extending teeth that bend by sliding along each other. This array also functions as a structural load-bearing exterior. Our smooth, hollow sliding-teeth-array is a simple active module that can contain other robot components. In this paper, we first provide an overview of this mechanism and a simple theoretical model. Then, we display the physical characteristics of the model utilizing a 3D printed prototype composed of flexible parts.