Stafford, Kenneth A.
Continuum manipulators are a type of robot arm that resemble biological tentacles and trunks. They have a flexible and compliant structure, which may allow them to out-perform rigid-link designs in cluttered workspaces or in environments that contain people. While most continuum manipulators are required to have constant curvature along the length of each segment, a new design known as a parallel continuum manipulator removes this restriction and inherits some properties of parallel rigid-link robots such as greater stability, precision, strength, and maneuverability. Until now, only single segment forms of these manipulators have been created. This project expands this manipulator design concept by creating the first multi-segment parallel continuum manipulator.
Worcester Polytechnic Institute
Major Qualifying Project
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