Design, construction, and analysis of a continuum robot

This paper proposes a novel approach in the design, construction and analysis of a continuum robot. The paper examines the drawbacks of two existing designs and proposes a new mechanical design that uses a single latex rubber tube as the central member, providing a design that is both simple and robust. Next, a new, simplified method of modeling kinematics is introduced. A novel verification procedure is then applied to examine the validity of the proposed model in two different domains of applicability and could be used to verify many other models that are constructed based on similar assumptions. Finally, a two-level electrical control scheme enables rapid prototyping.

I. Introduction

Continuum robots are inspired by the biological world. These robots feature a backbone-less structure similar to such biological counterparts as snakes, elephant trunks and octopus arms. Like these organisms, a continuum robot can use the entire length of its arm to grasp objects of different shapes and sizes. It wraps its body around the object until it has a firm grip on the object, similar to an elephant using its trunk to move logs. Potential applications of continuum robots include navigation through congested and unpredictable environments where a continuum robot can be used for underground or underwater exploration. A continuum robot with its unique abilities can reach places that are usually inaccessible for rigid link robots and hostile for human beings. In case of an accident, the loss will be minimal because the body of the continuum robot is made of a latex rubber tube. The costly control circuitry and motors are always on the top of the ground. Underwater operation is also possible because of the absence of any electrical components throughout the body of the continuum robot.