A novel continuum robotic cable aimed at applications in space

Abstract

We introduce a new class of long and thin continuum robots intended for use in space applications. This 'cable' robot is a next-generation version of the current state of the art (NASA's 'Tendril'). The article describes the key practical limitations of the mechanical design of 'Tendril'. We introduce the design specifics of our novel concept for a next-generation device with significantly enhanced performance. Equipped with a light and compact motor-encoder actuation mechanism, the new design has improved compliance and possesses a concentric backbone arrangement which is tendon-actuated and spring-loaded. A new forward kinematic model is developed extending the established models for constant-curvature continuum robots, to account for the new design feature of controllable compression (in the hardware). The model is validated by performing experiments with a three-section prototype of the design. The new model is found to be effective as a baseline to predict the performance of such long and thin continuum 'cable' robots.

Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam

“…When ∈ [10,30] mm, the speed of change of min is smaller. In summary, if ∈ [1,15] mm, the influence of on the minimum and maximum rotation stiffness is bigger. If ∈ [15,30] mm, the influence of on the minimum and maximum rotation stiffness is smaller.…”

“…In Figure 5(b), when increases, max decreases. When ∈ [1,10] mm, the speed of change of max is bigger. When ∈ [10,30] mm, the speed of change of min is smaller.…”

“…Continuum robot does not have its own joints, which can produce flexible deformation in any part, so it has a strong ability to avoid obstacles and better adapt to the complex unstructured environments. Continuum robots offer a number of potential advantages over the traditional rigid-link robots in applications involving disaster relief [1], industrial applications [2], and medical aid [3].…”

Design and evaluation of a continuum robot with extendable balloons

“…With utilization of newly developed compliant matters and fabrication techniques and utilizing these matters in continuum robots, they can be enabled to tolerate very high strains and extreme configurations . Backbones can be axially extended by utilizing different mechanisms, for example by actuating antagonistic tendons that are placed about the longitudinal axis (Chirikjian and Burdick, 1994) with the option of spring loading (Tonapi et al, 2015) or having telescopic precurved concentric tubes along the backbone and rotating them independently (Swaney et al, 2015). A locally actuated backbone continuum robot design is the closest to the biological continuum structures (Walker, 2013).…”

“…Continuum robots generally behave like some animal organs, called muscularhydrostats (Kier and Smith, 1985), even though they consist of a backbone. Since this backbone is a deformable structure rather than a rigid spine, continuum robots are moved via deformation of the backbone (Walker, 2013). Backbones bend continuously along their length via elastic deformation and produce motion by generating smooth curves (Robinson and Davies, 1999).…”