summary

This project aimed to improve some of the limitations associated with standard tendon driven continuum systems. These manipulators typically have a fixed tendon routing which creates a specific set of deformations and end-effector positions. Incorporating rotating disks along the backbone allows for a wider range of deformation and unique curvatures which leads to an interesting design problem! More will be shared with the final publication.

takeaways

more information

Publication coming soon!

gallery

(a) The DDL manipulator comprises two split parts (1) and (3) held together by the bearing (2). Part (1) is fixed to the backbone while part (3) can be twisted manually and locked with (1) using a cotter pin (4). The CDR manipulator (b) uses a similar principle, except automated rotation is enabled by the servo motor (1) which enables relative rotation of part (5) using a spur gear (3).
Experimental setup for the DDL manipulator.
Standard parallel tendon driven continuum arm versus the continuous disk rotor (CDR) in curvature capabilities.
Obstacle avoidance of a parallel and general routed manipulator a) front parallel b) side parallel c) front general d) side general, in all three general cases the general routed manipulator was able to hit the tomato around the obstacle.
Setup for the CDR manipulator. Also the setup used in the ir Force Office of Scientific Research (AFOSR) project for SURI ATLAS.