Construction and Implementation of a Novel Tendon-Driven Continuum Robot for a Bio Processing Application
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Reddy, Yenamala D.
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Abstract
Continuum robotics is a growing research field with real world applications such as in minimally invasive surgeries, search and rescue missions, and bio-printing scaffolds. Some of the benefits from continuum robotics include inherent redundancy, flexibility, and the ability to path plan around objects. This thesis aims to explore the development and usage of a novel continuum robot in a bio processing application with a hollow backbone.
There are many complex issues in applying a continuum robot in a bio processing application such as usability to carry different payloads, easy sterilization, and buckling.
This thesis provides a novel solution by encasing a tendon driven continuum robot in silicone to ease sterilization, create a hollow backbone, and a robust inverse kinematics solution.
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2024-04-29
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Thesis