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Making Concentric Tube Robots More Accessible: A New Open-Source Design Made of 3D-Printed and Other Easy-to-Source Materials

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This thesis presents an open-source concentric tube robot (CTR) that utilizes 3D-printed and other easy-to-source components. CTRs are typically made of Nickel-Titanium, a special metal alloy that can be expensive to source and difficult to process. Until now, R\&D on concentric tube manipulators has been carried out primarily in academic institutions, and only in a limited number of centers. This thesis seeks to lower the barrier to entry for researchers and scholars who wish to study CTRs. The contribution of this thesis is twofold: (1) we investigate the viability of fabricating concentric tube manipulator using additive manufacturing materials (as opposed to Nickel-Titanium); and (2) we provide an open-source CTR design that can be manufactured and assembled using easily sourced components.

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Identifier
  • etd-22426
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Year
  • 2021
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  • 2021-05-05
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Última modificación
  • 2023-09-27

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Permanent link to this page: https://digital.wpi.edu/show/pc289n30z