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This paper introduces the Distal-Stable Beam, a novel structural element for continuum robots that achieves a high stiffness gradient through geometric design. The beam uses two parallel rods and a convergent rod constrained by guide disks to create geometric coupling, suppressing deformation and enhancing distal rigidity. Experimental results demonstrate a 12x increase in distal stiffness compared to the center, and a 100x improvement over a cantilever beam, enabling improved precision under load.
Continuum robots can now achieve 100x greater distal stiffness without sacrificing compliance, thanks to a clever geometric trick.
Continuum robots are well suited for constrained environments but suffer from low distal stiffness, resulting in large posture errors under external loads. In this paper, we propose a novel structural primitive, the Distal-Stable Beam, which achieves a strong stiffness gradient through purely geometric design, maintaining compliance in the intermediate section while ensuring high distal rigidity. The structure consists of two parallel rods and one convergent rod constrained by guide disks, introducing geometric coupling that suppresses deformation modes and preserves distal posture. Experiments show that the distal stiffness is 12 times higher than at the center, corresponding to an approximately 100-fold improvement over a conventional cantilever beam. The proposed mechanism enables simultaneous compliance and distal stability without active stiffness modulation, providing a new design approach for continuum robots requiring both safety and precision.