Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments

Long reach and small diameter manipulators are ideal for borehole deployments into search and rescue scenarios and fragile historical environments. Small diameter passageways impose constraints on a snake arm manipulator which severely limit its performance and capabilities. This work investigates the effects of tendon tensions on the maximum working length of a snake arm under tight size constraints and how the maximum length is achieved through an algorithmic approach and consideration of how and when key parts fail.