Snake Robot Arm
Conforming Highly Articulated Multi-Purpose Snake (CHAMPS) Robot Arm
This flexible robot arm that can curve like a snake, combining the precision of hyper-redundant robots with the adaptability of continuum robots. It can create complex shapes with minimal motors, making it lighter and more affordable than existing rigid systems.
This invention introduces a flexible robot arm that can curve like a snake, merging the precision of hyper-redundant robots with the adaptability of continuum robots. Expected to be 5 to 10 meters long, it can create complex shapes while using just one or two motors, thanks to an innovative under-actuated design that employs time-multiplexed articulation and a dual gear-train transmission. This approach makes the arm lighter and more affordable than existing rigid systems, which are often limited in movement and costly. By reducing the number of motors and incorporating clutch locking mechanisms, this design trades off some mechanical complexity for increased intelligence and flexibility.
The arm’s design allows it to interact safely with its surroundings, making it suitable for a range of applications where delicate manipulation in tight or cluttered spaces is essential. For example, in medical settings, the arm could curl around a patient to lift them gently, while in search and rescue operations, it could navigate through debris and manipulate objects as needed. Beyond these uses, the arm holds potential for innovative applications, such as forming the framework of 3D structures or functioning as springs and coils, making it a versatile tool for tasks that require both precision and adaptability.
About the Lab
Modular Robotics Lab (ModLab), a subgroup of the GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania under the supervision of Prof. Mark Yim.
A modular robot is a versatile system consisting of many simple modules that can change their configuration to suit a given task. These systems are inherently robust due to their redundancy, adaptability, and ability to self-repair. While originally focused on continuing research in the field of modular robotics, recent work at the lab has expanded to include micro/nano air vehicles, bio-inspired gaits, personal robots, and more. The ModLab is comprised of undergraduate and graduate students from multiple disciplines including mechanical, electrical, and computer systems engineering.