Design and development of continuum structure for robotic flower

In this paper describes the design, modeling and development of a robotic flower based on continuum structure. It is the new concept of biomimetics, and its appearance likes a natural flower. The design is based on a novel “tendon and spring” mechanisms. The robotic flower is steered by tendons combining structure of spring. Its development is novel with respect to previous robotic flower´s designs in that flexibility, and extension, in addition to bending, are actively controlled in each direction of the robot and cheap. This requires a proposed kinematic model, and poses challenges for real-time control of the robot. In the paper, the design and its development are presented, along with a real-time control issues and experimental results. Robotic flower has three main parts are several leaves, a stem and a flower which can move respectively together or seperately. The mechanical structure is designed specifically to help the flowers have softness and flexible movement. The spring and tendon mechanism are combined to build a robotic flower. Beside like as natural flower, the robot can move toward light, sway to the music or recognize the strange people into the house.