Abstract
The autonomous creation of channels in confined environments is essential in fields such as pipeline maintenance, nuclear decommissioning, and disaster rescue. Cable-driven snake-arm robots are effective for navigating narrow spaces, but integrating compact cutting tools remains challenging. This thesis proposes a novel tendon-driven snake-shaped robotic arm with a compact laser module for autonomous operation in confined and hazardous environments. The research outlines the industrial background and aims to develop a multifunctional, flexible, and miniaturized robotic system. A comprehensive literature review identifies key gaps, including the lack of compact laser integration and precise motion control in confined-space applications.A mechanical co-design framework is proposed for integrating laser optics with the serpentine structure, covering laser selection, optical design, and miniaturization of the end laser head. A Hooke-hinge-based body and modular cable-driven actuation mechanism are developed to enable flexible and precise motion. A mathematical model maps motor input to joint articulation, and a kinematics-based control algorithm ensures accurate positioning with real-time feedback. Structural integration and thermal management of the laser system are also addressed.
The prototype is validated through mechanical and optical tests. Laser power stability, heat dissipation, and cutting performance are evaluated, and system accuracy is verified through targeting and obstacle-avoidance experiments. A self-opening channel test demonstrates autonomous navigation and cutting within constrained spaces. Results confirm high-precision control, low heat accumulation, and effective obstacle handling.
This work verifies the feasibility of integrating fiber-laser technology into a tendon-driven snake-arm robot for narrow-space applications. Limitations such as laser power, end-effector versatility, and visual autonomy are discussed, with future directions including higher power, multifunctional tools, and autonomous visual navigation. The research provides a foundation for laser-enabled robotic systems in aerospace, nuclear maintenance, and other high-confinement scenarios.
| Date of Award | 15 Jul 2026 |
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| Original language | English |
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| Supervisor | Haonan Li (Supervisor) & Donglei SUN (Supervisor) |