Cost-Effective Manufacturing of Fiber Reinforced Polymer Springs for Continuum Robots

摘要

The exploration of deep-sea environments requires specialized equipment capable of operating under extreme conditions. Traditional suction sampling systems are often used in combination with heavy and expensive equipment, limiting their accessibility for widespread research purposes. To address this, we present a novel design for a suction sampling system that leverages the concept of continuum robots to enhance maneuverability and reduce system weight and cost. Unlike continuum robots that utilize traditional coil springs, our design integrates custom-manufactured Fiber Reinforced Polymer (FPR) springs, effectively minimizing metallic components and achieving significant weight reduction. Notably, FRP springs offer enhanced corrosion resistance in deep-sea environments compared to metal springs. This paper outlines the conceptual development of a continuum robot and discusses the advantages of using FRP springs over traditional metal springs. It presents a cost-effective and simplified manufacturing process for producing FRP springs. Preliminary testing indicates that FRP springs have the potential to serve as a viable and accessible alternative to conventional metal springs in the design of a deep-sea continuum robot.