Tendon driven continuum robot design and analysis

Traditional industrial robots, which can perform specific and repetitive tasks, are inadequate in many areas of use due to their limitations such as their structures, mechanical designs and limited mobility. Robots called "Continuum Robots" are being designed that can easily reach places that traditional type industrial robots cannot reach, can move easily without hitting obstacles in the work space, and whose end function can follow a curvilinear trajectory in the work space. In this context, taking into account the developing and changing industrial and technological needs, to be able to operate in areas such as space research, military operations, nuclear technology, microsurgery, submarine and maritime sector, inspection and control, maintenance/repair, search and rescue studies in infrastructure and industrial facilities; many studies have been carried out in the field of continuous robots on different mechanical designs and kinematic solutions from to this day. In this study, a new type of compact and modular tendon-driven continuum robot which has six degrees of freedom, end-effector positioning precision and payload carrying capacity, capable of wrapping/unwinding, can surround and navigate by adjusting its own shape thanks to its flexible connections, overcome obstacles, pass through winding paths and capable of trajectory tracking was designed and analyzed.