A study on linked frusta mechanism for a multi-stable manipulator

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Bibliographic Information

Published
2025
DOI
  • 10.1299/jsmermd.2025.2p1-q06
Publisher
The Japan Society of Mechanical Engineers

Description

<p>The multi-stable frusta mechanism, famous for its application in bendy straws, is characterized by its morph-and-lock functionality. This enhances the discretization of soft robots. We applied the mechanism to a soft manipulator to achieve multiple stable configurations and improve energy efficiency. This study presents a comprehensive kinematic model, prototype implementation and preliminary evaluation of its performance.</p>

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