Date of Award

5-2017

Document Type

Thesis

Degree Name

Master of Science (MS)

Legacy Department

Electrical Engineering

Committee Member

Dr. Ian Walker, Committee Chair

Committee Member

Dr. Apoorva Kapadia

Committee Member

Dr. Adam Hoover

Abstract

We describe the design and physical realization of a novel type of large-scale continuum robot. The design, based on a hybrid concentric-tube/tendon actuated structure, is realized at a significantly larger scale than previous concentric tube continuum robots, with an extended length well over one meter. While operation at this scale opens up new types of potential applications, realization at this scale presents interesting challenges. We detail and discuss the associated issues via the prototyping and testing of the physical system with the help of experiments.

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