Snake-arm robot

A snake-arm robot is a slender hyper-redundant manipulator. The high number of degrees of freedom allows the arm to “snake”
along a path or around an obstacle – hence the name “snake-arm”.

Contents
Definition
Applications
Industry
Security and defence
Robotic surgery
History of Snake-arm robots
References
External links

Definition
Snake-arm robots are also described as continuum robots and elephant’s trunk robots although these
descriptions are restrictive in their definitions and cannot be applied to all snake-arm robots.

A continuum robot is a continuously curving manipulator , much like the arm of an octopus.
An elephant’s trunk robot is a good descriptor of a continuum robot. This has generally been
associated with whole arm manipulation – where the entire arm is used to grasp and
manipulate objects, in the same way that an elephant would pick up a ball.
This is an emerging field and as such there is no agreement on the best term for this class of robot.

Snake-arm robots are often used in association with another device. The function of the other device is to
introduce the snake-arm into theconfined space. Examples of possible introduction axes include mounting a
snake-arm on a remote controlled vehicle or an industrial robot or designing a bespoke a linear actuator. In
this case the shape of the arm is coordinated with the linear movement of the introduction axis enabling the
arm to follow a path into confined spaces.

Other features which are usually (but not always) associated with snake-arm robots:
Elephant Trunk
Continuous diameter along the length of the arm robotic arm
Self-supporting
Either tendon-driven orpneumatically controlledin most cases.
A snake-arm robot is not to be confused with a snakebot which mimics the biomorphic motion of a snake in order to slither along the
ground.

Applications
The ability to reach into confined spaces lends itself to many applications involving access problems. The list below is not intended
to be an exhaustive list of possibilities but merely an indication of where these robots are being used or developed for use.

Industry
 Nuclear

Decommissioning [1]
Repair and maintenance[2][3]
Aerospace

Manufacture and assembly: inside wing boxes, jet engines and ducts.
Surface Preparation: wielding pneumatic sanders for all stages of surface finishing prior to final paint application.
Maintenance, Repair and Overhaul[4]
Automotive

Manufacture: Snake-arm robots allow structures to be assembled in a dif

ferent way.

Security and defence

Bomb disposal and counter terrorism[3]
Search and rescue

Robotic surgery
Endoscopy
Colonoscopy[5]
Neurosurgery[5]

History of Snake-arm robots

Tensor arm manipulator, invented in 1968 by V.C. Anderson, commonly called the Scripps T
ensor Arm, is a spine-like
elephant trunk arm. Control is via a large number nylon microfilaments.
ANAT (Articulated Nimble Adaptable Trunk) AMI-100, invented in 1997 by Charles Khairallah, is a modular hyper-
redundant snake-like industrial robot arm.

References
1. "Robot snake created by Bristol engineers"(https://www.bbc.co.uk/news/uk-england-bristol-15073514), Dave
Harvey, BBC News Website (bbc.co.uk), 27 September 2011
2. "Snaking around in a nuclear jungle"(http://www.ocrobotics.com/downloads/IR2005.pdf), Rob Buckingham and
Andrew Graham, Int. J. Industrial Robot, Vol. 32, No. 2, ISSN 0143-991X, 2005, p120-127
3. "Snake-arm robots slither forward"(http://news.bbc.co.uk/1/hi/technology/5324708.stm)
, Jonathon Fildes, BBC News
Website (bbc.co.uk), 13 September 2006
4. "Continuum Robot for in-situ repairs"(http://mediaspace.nottingham.ac.uk/media/Development+of+Continuum+Robo
t+-+Snake+Arm/1_9xtiqyqs), University of Nottingham MiRoR project robot
5. Ingenia

External links
Snake-arm robots are currently being researched by several major universities:

Cornell University: Student Project team with goal to design and fabricate a class of robotic arms that best resemble
the strength, fluidity, precision, and dexterityof a snake
Carnegie Mellon: Research into various hyper-redundant robots including snake-arms
Clemson: Research into elephant’s trunk robots
Mississippi State University: Research into designing, analyzing, and building continuum robots.
University of Nottingham: Research into continuum robots for in-situ repair applications
Snake-arm robots are being made commercially by:

OC Robotics: manufacturing for the aerospace sector (automated assembly of aircraft), security (robotics for
counter-terrorism), nuclear (decommissioning and asset management), and other industries (inspection and
maintenance).

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