Subsea applications of continuum robots

摘要

Continuum robot mechanisms generate movement by bending continuously along their length to produce a sequence of smooth curves. This contrasts with discrete robot devices, which generate movement at independent joints separated by supporting links. The two types of mechanism have very different internal structure, and hence produce very different motions. Three applications are described, all utilising the parallel bellows method of continuum construction, generating controlled spatial bending according to internal fluid pressure. The AMADEUS project is developing a dextrous underwater robot hand for grasping and manipulation tasks using continuum fingers. The FLAPS project is developing propulsion systems which replicate the mechanics of fish swimming, as well as an inspection system for confined locations utilising multiple actuator sections.