Continuum Arm Robotic Manipulator: A Review

摘要

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. In this paper survey of literature related to continuum arm of robotic manipulator based on biological inspiration is carried out. It defines the fundamental difference between discrete, serpentine and continuum robot devices; presents the ‘state of the art’ of continuum robots and outlines their areas of application; and introduces some control issues. Finally some conclusions regarding the continued development of these devices are made.