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Page 8 of 19 Peng et al. Soft Sci. 2025, 5, 38 https://dx.doi.org/10.20517/ss.2025.31
Algorithm 2.
distributed force of the robot needs to be calculated. The equivalent density can be expressed as
(8)
where m and m are the masses of the disks and backbone, respectively, and v is the volume of the
d
b
r
2
backbone. The cross-sectional area can be defined as A = πr , where r is the radius of the backbone. Detailed
information is listed in Table 2.
As shown in Figure 3C and D, the continuum robot without tendon tension is positioned horizontally,
which demonstrates a bent shape due to the weight of the robot and external load. The average error ΔE of
point P (P , P , P ) between the simulation and experimental result is expressed as
X
Z
Y
(9)
