Singapore Institute of Technology
ASPEN 2022_OR-02-0100.pdf (253.86 kB)
Download file

Design of a Cable-Driven Continuum Manipulator for Applications in Confined Spaces at Elevated Heights

Download (253.86 kB)
conference contribution
posted on 2022-11-21, 09:25 authored by Landong MartuaLandong Martua, Mustafa Shabbir KurbanhusenMustafa Shabbir Kurbanhusen

A unique combination of a tethered aerial drone, integrated

with a lightweight manipulator is proposed to overcome the challenges during the inspection of confined spaces at elevated heights, where a four degrees-of-freedom

cable-driven manipulator is presented, along with a continuous backbone design, inspired by the flexible ruler, which offers high bending stiffness in the vertical direction to minimize downward deflection of the manipulator, with low bending stiffness in the horizontal direction to maximize the flexibility of maneuvering in confined and complex spaces.


Journal/Conference/Book title

Proceedings of the 9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)

Publication date



  • Published

Rights statement

©2022 ASPEN 2022 Organisers. ISBN: 978-981-18-6021-8.All rights reserved.

Corresponding author

Assoc. Prof. Mustafa Shabbir Kurbanhusen,

Project ID

  • 6533 (R-STR-A403-A002) Intelligent Ground-Aerial Robots for Closed Quarters Interactive Operations

Usage metrics