Design, modeling and performance evaluation of a long and slim continuum robotic cable

摘要

In this paper, we present a novel design for constructing multi-section continuum robots with a special focus on thin (less than 1 cm diameter) and relatively longer length (more than 100 cm), along with its new kinematic modeling and performance evaluation. This spring-loaded, tendon-actuated cable-like continuum robot incorporates key features of a concentric tube style design with added local compression to most sections and actively controllable bending along its entire backbone. It also avoids a complicated and large actuator system. Such robotic cables can be well suited for current space and terrestrial applications like exploration, teleoperation, surveillance, maintenance activities, etc., benefiting from these unique structural properties.