Novel Continuum Robots with Variable-Length Sections

Abstract In this paper, we examine the properties of tentacle-like continuum robots wherein the lengths of the bending segments can be adjusted. The ability to vary section lengths would allow continuum robots to assume a significantly wider range of configurations than in existing designs, expanding their potential range of applications. We introduce and analyze an appropriate kinematic continuum model for the case of variable section lengths. Based on this model, we present results from an interval-based analysis of the significance of variation of section lengths. The discussion is motivated and supported throughout by results from a novel hardware implementation.