Development Of A Dexterous Continuum Manipulator For Exploration And Inspection In Confined Spaces

Purpose - Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry.Design/methodology/approach - Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, this paper proposes a design of a slim and dexterous continuum manipulator. Kinematics modeling, simulation-based dimension synthesis, structural constructions and system descriptions are elaborated.Findings - Experimental validations show that the constructed prototype possesses the desired dexterity to navigate through confined spaces with its kinematics calibrated and actuation compensation implemented. The continuum manipulator with different deployed tools (e.g. graspers and welding guns) would be able to perform inspections and other tasks at remote locations in constrained environments.Research limitations/implications - The current construction of the continuum manipulator possesses quite some friction inside its structure. The bending discrepancy caused by friction could accumulate to an obvious level. It is desired to further reduce the friction, even though the actuation compensation had been implemented.Practical implications - The constructed continuum manipulator could perform inspection and other tasks in confined spaces, acting as an active multi-functional endoscopic platform. Such a device could greatly facilitate routine tasks in the aviation industry, such as guided assembling, inspection and maintenance.Originality/value - The originality and values of this paper mainly lay on the design, modeling, construction and experimental validations of the slim and dexterous continuum manipulator for the desired mobility and functionality in confined spaces.