Based on the Design Concept of a Bioinspired Continuum Robots with Programmable Stiffness Combined with a Nested Halbach Cylindrical Arrays in Exploration Activities

Yingpei Jiang

doi:10.54254/2755-2721/2025.CH24657

Applied and Computational EngineeringOpen access

Based on the Design Concept of a Bioinspired Continuum Robots with Programmable Stiffness Combined with a Nested Halbach Cylindrical Arrays in Exploration Activities

Research Article

Open Access

Based on the Design Concept of a Bioinspired Continuum Robots with Programmable Stiffness Combined with a Nested Halbach Cylindrical Arrays in Exploration Activities

Yingpei Jiang ^1*

¹ College of Engineering, Northeast Agricultural University, Harbin, Heilongjiang, P. R. China, 150030

^*Corresponding author: j06y01p07@outlook.com

Published on 4 July 2025

ACE Vol.169

ISSN (Print): 2755-273X

ISSN (Online): 2755-2721

ISBN (Print): 978-1-80590-209-6

ISBN (Online): 978-1-80590-210-2

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Abstract

As an important part of promoting social development, exploration activities are inevitably accompanied by certain risks in extreme environments or high-risk areas where exploration tasks are carried out. In order to reduce the threat to personnel safety in complex environments and improve the efficiency of exploration, the application of robotic technology can effectively enhance the robotic adaptability and flexibility in complex environments. In the Bioinspired Continuum robot with programmable stiffness designed for the trunk-like structure, the Intelligent Spring with Programmable Stiffness (ISPS), as a key element in the Cable-driven Continuum Robot (CCR), exhibits an excessively low bending speed during individual simulation tests. Therefore, this study proposes combining the nested Halbach cylindrical array structure with the CCR structure. Additionally, by installing small magnetic beads on the ISPS, it is proposed to enhance the bending efficiency of the ISPS through the action of magnetic force, thereby accelerating the bending efficiency of the robot to achieve higher usage efficiency in complex exploration environments. In this study, through the prediction of the data size of the equipment and the simulation calculations in the formulas, it is concluded that the device can generate a variable magnetic field and apply an additional magnetic force to a single ISPS. As a result, it is practically feasible to accelerate the bending efficiency of the ISPS. This innovation provides a practical improvement scheme for similar bionic robots in terms of increasing the bending speed and thus enhancing the exploration efficiency.

Keywords:

Exploration, Elephant Trunk-like Robot, Variable Magnetic Field, Low-Melting-Point Alloy, Structural Design

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References

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References

[1]. Tang Z.S.H.(2024). Innovation and Practice of Underwater Robot Technology in Marine Engineering [J]. Pearl River Water Transport. (6): 108-110. DOI: 10.14125/j.cnki.zjsy.2024.06.005.

[9]. Mu X.H. & Ding Y. (2024). Exploration on the Application of Comprehensive Geological Exploration Methods [J]. Inner Mongolia Coal Economy. (22): 181-183. DOI: 10.13487/j.cnki.imce.026051.

[10]. Tretiak, O., Blümler P. & Bougas, L. (November, 2019). Variable single-axis magnetic-field generator using permanent magnets. AIP Advances. 9(11): 115312. DOI: 10.1063/1.5130896.

Cite this article

Jiang,Y. (2025). Based on the Design Concept of a Bioinspired Continuum Robots with Programmable Stiffness Combined with a Nested Halbach Cylindrical Arrays in Exploration Activities. Applied and Computational Engineering,169,68-76.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

About volume

Volume title: Proceedings of CONF-MSS 2025 Symposium: Machine Vision System

ISBN: 978-1-80590-209-6(Print) / 978-1-80590-210-2(Online)

Editor: Cheng Wang, Marwan Omar

Conference website: https://www.confmss.org/chicago.html

Conference date: 5 June 2025

Series: Applied and Computational Engineering

Volume number: Vol.169

ISSN: 2755-2721(Print) / 2755-273X(Online)

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