Towards a Highly Integrated 3D Printed Soft Continuum Manipulator

Soft continuum robot manipulators are structurally compliant devices that aim to take advantage of this characteristic to facilitate interaction with the surrounding environment. However there is a delicate balance between structural compliance and the ability to perform useful mechanical work. Off-axis manipulation has been identified in literature as one of the challenges posed to these robots. In this paper the design and experimental evaluation of a soft continuum manipulator robot module, based on a soft wave spring structure, is addressed with the aim of studying and improving off-axis manipulation. Finite element simulation results are presented, that allow to optimize the design of the wave spring for a specific set of dimensional constraints. A working prototype is also described, and experimental results are presented regarding the evaluation of the structure in both in-axis and off-axis loading, and also for trajectory following under several load cases.