Design and Experiment of Super Redundant Continuous Arm Driven by Pneumatic Muscle

Based on the traditional wire-driven continuous arm structure, a super redundant continuous arm is designed by using pneumatic artificial muscle drive instead of traditional wire drive. The continuous arm is composed of a splicing super redundant joint module in series, each module is driven by four pneumatic artificial muscles. Each pneumatic muscle is pre-lifted during installation, and the universal bending joint in the drive module supports and bends. Due to the pre-stretching of four pneumatic muscles, the single joint can achieve initial steady state in the initial state, so that the super redundant joint obtains an initial stiffness.