Abstract
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi-segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost and complexity of a SCRaM and reduces its reliability. In this paper, a methodology is presented to reduce the number of actuators employed by SCRaMs while maintaining their volumetric workspace. The method presents a new design approach involving one rotary and two linear actuators, providing three degrees of freedom (DOF) and a volumetric workspace. The result of applying the transformation is a 50–86% reduction in the total number of actuators typically employed by multi-segment SCRaMs. The application of this methodology reduces the cost and complexity of conventional multi-segment SCRaMs while improving their efficiency and reliability.
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