Tonghuan Ding

Planar Multi-Closed-Loop Hyper-Redundant Manipulator Using Extendable Tape Springs: Design, Modeling, and Experiments

This letter describes the development of a planar multi-closed-loop hyper-redundant manipulator. The proposed manipulator consists of two extendable tape springs and several inner tube rods. As the tape springs can be wound, the manipulator achieves a large workspace with a small footprint. The inne