Geared Pinch Roller Mechanism-Flexible Drive Mechanism to Suppress Axial Slip Shiftof Flat Tubes

This study proposes a novel mechanism to address operational failures in conventional pinch roller actuators caused by tube misalignment. The effectiveness of the proposed design was validated through comparative experiments against traditional pinch roller actuators. Furthermore, we introduce the conceptual design of an eversion robot equipped with the anti-shift pinch roller mechanism.