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.
Recommended Citation
Verma, Siddharth R., "Trunk Robot for Extended Environments" (2017). All Theses. 2680.
https://open.clemson.edu/all_theses/2680