Next Generation Rope-Like Continuum Robots for In-Space Inspection

Abstract

Continuum robots have been an active area of research in robotics for minimally invasive surgery, search, and rescue, object manipulation, etc. NASA also has developed “Tendril”, the first long and thin continuum robot of its kind, intended for in-space inspection applications. There are disadvantages of the state of the art mechanical design producing undesirable effects during operation. These disadvantages are overcome by developing hybrid robots involving snake and continuum elements. Then the specifics of a new, next-generation, rope-like robot with a modified mechanical design using tendons comprising of a series of compression and extension springs that are interconnected using threaded links is provided. This improves the performance by having key features like controllable bending along its entire length, local compression, and potentially smaller actuation package.