Date of Award
5-2019
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Electrical and Computer Engineering (Holcomb Dept. of)
Committee Member
Ian D Walker, Committee Chair
Committee Member
Apoorva Kapadia
Committee Member
Richard Groff
Abstract
This thesis describes the design and physical realization of a novel branching continuum robot, aimed at inspection and cleaning operations in hard-to-reach environments at depths greater than human arm lengths. The design, based on a hybrid concentric-tube/tendon actuated continuum trunk core, features two pairs of fully retractable continuum branches. The retractable nature of the branches allows the robot to actively change its topology, allowing it to penetrate narrow openings and expand to adaptively engage complex environmental geometries. We detail and discuss the realization of a physical prototype of the design, and its testing in several simulated application environments.
Recommended Citation
Lastinger, Michael Clayton, "Development of a Novel, Tree-Like Branching Continuum Robot with Variable Topology" (2019). All Theses. 3113.
https://tigerprints.clemson.edu/all_theses/3113