We describe and discuss the development of long, thin, continuous “string-like” robots aimed at Space exploration missions. These continuous backbone “continuum” robots are inspired by numerous biological structures, particularly vines, worms, and the tongues of animals such as the anteater. The key novelty is the high length-to-diameter ratio of the robots. This morphology offers penetration into, and exploration of, significantly narrower and deeper environments than accessible using current robot technology. In this paper, we introduce new design alternatives for long thin continuum robots, based on an analysis and extension of three core existing continuum robot design types. The designs are evaluated based on their mechanical feasibility, structural properties, kinematic simplicity, and degrees of freedom.
Robot strings: Long, thin continuum robots
2013-03-01
1289615 byte
Conference paper
Electronic Resource
English
Continuum Robots for Space Applications
Springer Verlag | 2023
|A Gazebo Simulator for Continuum Parallel Robots
Springer Verlag | 2022
|