A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches

The many degrees of freedom continuum robots (CRs) enable unique applications in the search and rescue, medical aerospace industries. However, motors required result unwieldy external actuation packs additional weight. Underactuation can achieve any pose with four by locking sections through clutching cables. Existing underactuated (UA) solutions are characterized lengthy joint times, add significant weight not scalable. In this article, a novel design motion strategy is introduced, shape memory alloy wires to control clutches that lock cables for section locking. addition using conventional smooth cables, beaded proposed improved strength. workspace analyzed, tools optimize bead pitch. Finally, operation UA CR demonstrated on prototype achieves mean repeatability 1.41mm, equivalent 0.43% backbone length. Section achieved 1 s unlocking 5 s.