Next generation rope-like robot for in-space inspection

摘要

Design of continuum robots, i.e. robots with continuous backbones, has been an active area of research in robotics for minimally invasive surgery, search and rescue, object manipulation, etc. Along the same lines, NASA developed "Tendril", the first long and thin continuum robot of its kind, intended for in-space inspection applications. In this paper, we describe and discuss the key disadvantages of state of the art mechanical design producing undesirable effects during operation. We then provide the specifics of a new, next generation, thin rope-like robot with a modified mechanical design for better performance having key features like controllable bending along its entire length, local compression and potentially smaller actuation package.