Design and Build a Multi-Axes Continuum Robot

Ding, Abel Ze Quan (2023) Design and Build a Multi-Axes Continuum Robot. Final Year Project (Other), Tunku Abdul Rahman University College.

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Abstract

In the modern world, there are many industries robot is used to manufacturing process or repetitive task with good precision. But normally there are in bulky in shape not suitable in manoeuvring through confined space. Therefore, continuum robot (CR) was introduced and has gained a certain familiarity in the past recent year for its serpent shape design. This kind of robot has a flexible backbone that helps in giving the robot its mobility to manoeuvre through difficult areas due to its snake-like shape. The CR has many kinds of design, from a large body that has a certain degree of resilient to harsh environment to smaller body that is used in invasive surgery to help the surgeon to access to tight spot that is hard to access with normal tradition surgery method. But to build a CR is not as easy as its snake-like look, where designing a CR may require some time to understand the mechanism and then only it can be controlled well. Therefore, in this study, a tendon driven continuum robot (TDCR) is design and build for the purpose of understanding how the TDCR works without having rigid links at fixed joints like a typical robot arm while the design is kept simple and compact for easy storage and mobility. The prototype will be developed with computer aid and the assembly of the mechanical part and the electronics parts of the prototype is done with test carried out to check the performance of the prototype