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

  • Jason LiuEmail author
  • Robert Richardson
  • Rob Hewson
  • Shaun Whitehead
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9287)


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.


Exploration Long reach Discrete backbone Robot archaeology Snake arm Tendon tension Minimally invasive Small diameter 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Jason Liu
    • 1
    Email author
  • Robert Richardson
    • 1
  • Rob Hewson
    • 2
  • Shaun Whitehead
    • 3
  1. 1.School of Mechanical EngineeringUniversity of LeedsLeedsUK
  2. 2.Faculty of EngineeringImperial CollegeLondonUK
  3. 3.Scoutek Ltd.Saltburn-by-the-SeaUK

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