A Large Length-to-Diameter Ratio Continuum Robot with Remote Actuation for Confined Spaces

Abstract

Continuum robots offer advantages such as a slender structure and high dexterity, making them particularly suitable for operation in confined and complex environments. However, their bulky drive systems severely limit their application in such spaces. To address this issue, this paper presents a continuum robot with multiple degrees of freedom (10 DOFs) and a large length-to-diameter ratio (802:12.5). A compact drive system is achieved through the rational layout of drive components and optimization of the transmission chain. In addition, a flexible arm with helical channels is introduced to enable remote actuation, thereby enhancing the flexibility of system deployment. Based on the constant-curvature assumption, a kinematic model of the manipulator is established, and a master–slave control strategy is designed for motion control. Both simulations and experiments verify the feasibility of the system. The developed robot shows promising application prospects in equipment maintenance and related fields, and also serves as a reference for the lightweight design of continuum robots.