Date of Award
Master of Science (MS)
Electrical and Computer Engineering (Holcomb Dept. of)
Ian D Walker, Committee Chair
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.
Lastinger, Michael Clayton, "Development of a Novel, Tree-Like Branching Continuum Robot with Variable Topology" (2019). All Theses. 3113.