Connection plate

Abstract

To provide a connection plate.SOLUTION: A connection plate for a continuum arm robot includes: a collar for connecting to a continuum arm robot; and a cutout section extending from one end to a plurality of apertures existing in-plane of the connection plate. In a continuum arm robot comprising a robot arm part and a connection plate, the robot arm part comprises a connection plate for connecting to the end of the distal end of the continuum arm robot via a collar. The connection plate includes a cutout section extending from one end into a plurality of apertures through which a distal end of the tendons passes.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a connection plate for a continuum arm robot. The present disclosure further relates to a continuum arm robot having a connection plate that can be attached to an actuator pack. [Background technology]

[0002] Continuum arm robots or snake arm robots are of growing interest in several different technical fields. These robots are used, for example, to inspect and repair complex systems such as gas turbine engines or nuclear reactors, or can be used in human surgery. The advantage of this system is the control achieved using the adaptive arm, which means that areas that are difficult or dangerous for humans to enter can be accessed without potentially causing significant damage to the surrounding area. Continuum arm robots have an arm that consists of several joints, the stiffness of which can be set when the robot is built. These joints, with the desired stiffness, give the robot the strength and flexibility required to perform the desired task. The joints are typically steered by tendons that pass through the joints, and can be tensioned or released depending on the operator's requirements. The operator controls the degree of tensioning in the arm through the use of actuators that are coupled to the tendons that pass through the robot arm. Each continuum arm robot is provided with its own actuator pack, which contains all the individual actuators used to control the arm and the head attached to the arm. The head provides tooling or inspection equipment depending on the requirements for the desired process.

[0003] In use, multiple continuum robots may be required to complete a required task. This is because the robots may require different heads or different stiffness of the joints if the task is a complex process. This requirement to have multiple different continuum arm robots increases the cost and complexity of the process because a different continuum arm robot must be configured for each step, and when the process is completed, it must be removed and the next continuum arm robot must be configured. Alternatively, if a robot requires modification, the processing time required for the process increases. This therefore increases costs due to the requirement to own several different continuum arm robots and the actuator packs to which they are tied, as well as operator time in modifying and installing the different continuum arm robots. It is therefore desirable to improve the operation of continuum arm robots and their actuators. Summary of the Invention [Means for solving the problem]

[0004] According to a first aspect of the present disclosure, there is provided an actuator pack for a continuum arm robot, the actuator pack including a plurality of actuator pack sections, each section having a housing and an interface plate, each section further including an array of actuators connected to their own respective drive electronics, the actuators mounted to the housing or interface plate and having drive heads exposed through holes in the interface plate, the actuator pack sections configured to be coupled together in one state.

[0005] Each actuator pack section may include electronic circuitry to control the drive electronics of the actuators such that each actuator pack section can operate as an individual actuator pack. The actuator pack sections may share electronic circuitry to control the electronic circuitry to drive the actuators within the actuator pack sections.

[0006] The actuator pack section may be provided with ventilation. The actuators may be mounted in multiple actuator pairs within the actuator pack section. The actuator pair may comprise two actuators mounted on a frame coupled to a housing of the actuator pack section.

[0007] The actuator pack sections may be permanently bonded together. The actuator pack sections may be fastened together in the off state by non-permanent means and may be configured to separate for use in the working state. The actuator pack sections may have positioning features that aid in joining the actuator pack sections in the closed position.

[0008] According to a second aspect of the present disclosure, there is provided a continuum arm robot system including an actuator pack according to the first aspect and a continuum arm robot coupled to at least one of the actuator pack sections in a working state thereof, the continuum arm robot comprising a number of deformable joint sections actuated by tendons connected at their distal ends to joints and connected at their proximal ends to actuators.

[0009] The interface plate may be provided with a collar that connects to a robot arm. The interface plate may be provided with cut-out sections extending from an edge of the interface plate and having passages extending to each of the actuators for moving the tendons of the robot trough.

[0010] The robot arm includes a connection plate that connects to the end of the distal end of the continuum arm robot, the connection plate having cut-out sections extending from one end to several openings through which the distal ends of the tendons pass, the connection plate configured to be aligned with the actuator pack section when the connection plate is connected to the actuator pack section such that the openings in the connection plate are aligned with the actuators within the actuator pack section.

[0011] The connecting plate may be provided with fastening means for connecting with the actuator pack sections. The connecting plate may be configured with openings on at least two sides, and the actuator pack may include at least two actuator pack sections, the actuators coupling to distal ends of the tendons at the openings in the connecting plate.

[0012] A rotatable plate may be positioned within the plurality of openings, the rotatable plate being attached to an axle connected to the connecting plate, and tendons tied to the openings being connected to the plate. The plate may be provided with a groove around its periphery, with the tendons within the plate. The rotatable plate may be further coupled to the connecting plate by a spring-loaded clutch.

[0013] According to a third aspect of the present disclosure, there is provided a connection plate for a continuum arm robot, the connection plate having a collar for connecting to the continuum arm robot and a cut-out section extending from one end to a plurality of openings in a face of the connection plate.

[0014] According to a fourth aspect of the present disclosure, there is provided a continuum arm robot comprising a robot arm and a connection plate, the robot arm comprising a connection plate connecting to an end of a distal end of the continuum arm robot via a collar, the connection plate having cut-out sections extending from one end into a plurality of openings through which distal ends of tendons pass.

[0015] The cut out section may be a groove or a slot. The connecting plate may be contained within the cutout section and equipped with brakes that when activated clamp the tendons in place so that the tension in the tendons within the robotic arm does not change.

[0016] A rotatable plate may be positioned within the plurality of openings, the rotatable plate being attached to an axle connected to the connecting plate, and tendons tied to the openings being connected to the plate. The plate may be grooved around its periphery, with the tendons within the plate.

[0017] The rotatable plate may be further coupled to the connecting plate by a spring-loaded clutch. The plates may be coated with a coating that has a higher coefficient of friction than the material of the plates. The face of the plate opposite the connection to the axle may have a protrusion or cut out section configured to engage the head of the actuator.

[0018] The collar may further include a protective collar extending from the collar and preventing bending of the robot arm within the vicinity of the collar. The openings may be provided on multiple faces of the connecting plate.

[0019] According to another aspect of the present disclosure, there is provided a continuum arm robot system comprising the continuum arm robot according to the fourth aspect and at least one actuator pack having a plurality of exposed actuator heads, wherein the openings in the connection plate are aligned with the actuators of the actuator pack and the tendons are coupled to the actuators. The connecting plate and the actuator pack may be provided with corresponding alignment features for positioning the connecting plate on the actuator pack. The actuator pack and the connecting plate may be joined together by non-permanent fasteners.

[0020] The connecting plate may have openings on multiple sides, with the actuator packs connected to each side of the connecting plate having an opening extending therethrough.

[0021] Those skilled in the art will recognize that, unless mutually exclusive, a feature or parameter described with respect to any one of the above embodiments may be applied to any other embodiment. Furthermore, unless mutually exclusive, any feature or parameter described herein may be applied to any embodiment and / or combined with any other feature or parameter described herein. Embodiments will now be described, by way of example only, with reference to the following figures: [Brief description of the drawings]

[0022] [Figure 1] Figure 1a shows a cutaway example of an actuator for a prior art continuum arm robot, and Figure 1b shows an image of a prior art continuum arm robot in use. [Diagram 2] 1 illustrates an example of an actuator pack according to the present disclosure. [Diagram 3] Figure 3a shows an example of mounting an actuator without a housing according to the present disclosure, and Figure 3b shows an example of an interface plate according to the present disclosure. [Figure 4] 1 illustrates an example cross-section of an actuator pack according to the present disclosure. [Diagram 5] 1 illustrates an example of a connecting plate that attaches a continuum arm to an actuator pack of the present disclosure. [Figure 6] 1 illustrates an example of a spring-loaded clutch plate according to aspects of the present disclosure. [Figure 7] 7a to 7d show an example of a process for connecting a spring type clutch plate to an actuator. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Aspects and embodiments of the present disclosure will now be discussed with reference to the accompanying figures. Further aspects and embodiments will be apparent to those skilled in the art.

[0024] FIG. 1a shows a prior art example of a cut-out of a continuum arm robot. The prior art continuum arm robot comprises a continuum arm robot portion 101 that is permanently integrated and extends from an actuator pack 102. The actuator pack 102 contains a number of independent actuators 103. These actuators are used to adjust the tension in the tendons that run through the continuum arm 101. The tendons are attached to joints in the arm, each of which is designed to move in response to tensioning or loosening of the tendons attached to the joint. This tensioning or loosening of the tendons thus causes the joint to contract or lengthen, which allows the continuum arm to bend. The actuator pack is shown positioned on a rail or support 104 that is positioned near the component to be inspected. The actuators are also provided with a number of power and signal cables 105 that are used to power and address the actuators. Individual signals across the range of the actuators provide control of the joints so that the continuum arm 101 can be steered. Although not shown in FIG. 1, an operator with a computing device coupled to the actuator is also required to control the movement of the continuum arm and perform the desired tasks. Because the continuum arm robot is permanently integrated into the actuator pack, if the process requires a tool change, a completely separate installation is required. This increases the control and management costs for the application. The computing device connected to the prior art actuator may be any suitable computing system, such as a laptop computer, featuring the necessary operating software for the robot and a control input, such as a joystick, that allows control of the continuum arm.

[0025] FIG. 1b shows an example of a continuum arm robot joint. The arm has multiple joints, requiring at least two cables per joint. For example, a system with three joints would have four tendons per joint and require 12 actuators to drive the arm. Increasing the number of joints requires either increasing the number of actuators or decreasing the number of tendons per joint. The highlighted joints 106, 107, 108 can be steered to move in three dimensions. The joints are configured to allow joints 106 and 108 to bend in the same plane relative to the center of the arm, while the plane in which joint 107 can move is offset by 90° relative to joints 106 and 108. By repeating configurations of alternating joint angles, each moving in a different orthogonal plane, the arm can be steered in three dimensions. Each joint in the arm has a limit to the amount it can bend, which is defined by the design of the arm and the materials used. The limit on bending at each joint sets properties of the robot, such as the minimum bend radius and the torque required to cause an angular change in the joint. At the end of the arm, a tool or probe is placed that is designed to perform one or more functions after the continuum arm is in place. The head of a continuum arm robot is often equipped with an optical system so that the operator can see how the head is inserted into the component and control the head to perform the task. The optical system is also frequently coupled to a lighting system. The control cables for the tools, the power connector to the lighting system, and the optical cables can usually be run through the center of the joint in the continuum arm. This has the advantage of protecting the cables from any potential damage. All these components as well as the arm structure are permanently coupled to the actuators, which means that in case of arm failure or problems, the entire continuum arm robot needs to be replaced.

[0026] Thus, continuum or snake-arm robots are very useful and versatile tools that can be used for several inspection, repair and maintenance tasks of equipment of such complexity that conventional techniques cannot be used. However, in current installations, all continuum robots are permanently connected to the actuators, which creates the problem that several robots are required for a multi-step process. Alternatively, the robots can undergo a lengthy process of detaching the continuum robot from the actuator and then reconnecting a different continuum arm robot. FIG. 2 shows an example of an actuator pack 200 according to the present disclosure. In FIG. 2, the actuator pack is composed of two sections 201 and 202. Although two sections are shown in this example, there can be any suitable number of actuator sections. For example, there can be two, three, four, five actuator pack sections. Each section of the actuator pack can be an enclosed container with an interface plate 203 located at the mating surface of the actuator pack section. Alternatively, the interface plate can be facing outward and a partition can be located in the center of the actuator pack. Inside the actuator pack section are the actuators 204 that drive the tendons of the robot, as well as the necessary drive electronics and controllers tied to the drive electronics. The actuators may be mounted in rows of pairs in both sections of the actuator pack section. The actuators may be mounted in a frame that holds the actuator pairs in place and that is fastened to the actuator pack section. This diagram shows actuator sections with rows of five actuator pairs each. However, the actuator pack may have any suitable number of actuator pairs. The actuators do not have to be mounted in pairs, but can be placed in any reasonable configuration. This can be done individually or in integer rows. The outer wall of the actuator pack section may be made from any suitable material. It may be a metallic material such as aluminum. Alternatively, it may be made from a plastic or composite material.The sections may be made from plastic or a hybrid of composite and metal materials. The sections may be hinged with a clasp at one end to hold them in place. Alternatively, the sections may have a connecting or positioning means 205 at one end and a clasp to hold them together. The casing of the two sections may be provided with ventilation to allow cooling air to flow to the actuators. The ventilation 206 may supplement the actuator section with a fan that forces cooling air over the electronic components in the actuator pack. The interface plate is the part of the actuator pack section that opens to the actuators. The interface plate may be made from any suitable material. The interface plate may be made from a metal material. Alternatively, it may be made from a composite or plastic material. The interface plate may be provided with complementary alignment features to ensure that the two sections of the actuator pack are correctly engaged. The interface plate may have passages in it that allow the tendons of the continuum robot to pass through to the actuators. Providing passages in the interface plate protects the tendons from damage. The passage may be a groove with a cover that can be placed in the groove to protect the tendons when fastened to the actuator. This passage also allows for precise movement of the robot as the two sections of the actuator pack close together precisely to ensure that the robot arm is kept in the passage between the two interface plates. The end of the actuator pack may be provided with a resilient collar that secures the robot to the actuator pack and allows for slight movement of the robot but prevents damage to the robot arm upon connection with the actuator pack. Alternatively, as shown in FIG. 2, a connection plate 207 replaces the need to have a passage in the interface plate. The connection plate is shown provided with a collar 208. However, the collar is an optional addition.The connection plate may be permanently connected to the continuum robot and acts as an interface between the robot and the actuator pack, allowing for quick connection and change of the continuum arm robot. A channel or groove 209 is provided in the connection plate, allowing the tendons to pass through the connection plate. The connection plate may also be provided with a number of connectors 210 that are attached to the ends of the tendons. The connectors are provided with coupling means for attachment to the drive actuators. The connection plate may also be provided with positioning features 211 that mate with the interface plate to ensure that the connection plate is correctly positioned relative to the actuators so that the robot can be driven accurately and safely. The connection plate is shown to have hooks 212 that can ensure a firm connection of the connection plate and the actuator pack sections. The fasteners may be hook and cam fasteners, or screws or bolts with corresponding threaded holes in the connection plate. Other fastening means will be apparent to those skilled in the art.

[0027] The actuators face outwardly towards the actuator pack and the connectors face the interface plate. The continuum arm robot may be connected to the actuators directly or through the use of a connector plate. A direct connection may be made by inserting the tendons using a slot and attaching them directly to the actuator. Alternatively, this may be through the use of a slot on the actuator through which the tendons pass or through the use of a coupling disk at the end of the tendon with a centre formed to connect with the head of the actuator. The actuators may be any suitable actuator. For example, the actuators may be provided with one or more of a static torque transducer capable of providing torque feedback to measure tendon load, a high precision encoder on the output shaft to measure displacement, a high gear ratio transmission, a load cell regulator, and / or a motor controller. For example, these may be off of a bespoke or custom-made actuator. In particular, the actuators may be a packaged integrated system and include a torque transducer, a brushless DC motor, a harmonic drive transmission, a motor driver, a load cell signal conditioner, dual high precision rotary encoders, a static brake, bearings, and a housing. The control of the actuators may have an error of less than 0.5 mm in tendon movement. Preferably, this is less than 0.3 mm. The force feedback and force control may be within 2% of the rated load. In particular, this force feedback and force control may be within 1% of the rated load. The actuator may have a maximum rotational speed of less than 100 rpm. Preferably, the maximum rotational speed is less than 75 rpm. The actuator is driven by a programmable logic controller and can be connected via EtherCat. The actuator can be driven in either a position control mode or a torque control mode. In either mode, it provides data to the control system including the current position and the current torque. The actuator pack may have an interface plate on the outside of the case, with the division of the sections in the middle. In this case, the interface plate may be provided with a cover when the actuator pack is transported. Alternatively, the pack may be hinged along one of the edges to which it is permanently connected.Each of the actuator pack sections may have all the electronics and computing processors so that it can operate as an independent actuator pack capable of driving the robot arm itself. Alternatively, the actuator packs share some of the electronics between them, and the hinge also includes electrical connections to provide power and signals between the two sections. Each actuator pack section may be capable of controlling its own continuum arm robot. This is useful in situations where two processes are required, or where a second robot is required to support the first robot. Alternatively, the two sections are used to control the same robot. The actuator pack may be switchable between two modes of operation, controlling one robot or controlling two robots. If two robots are used, they may be connected to the actuator train either manually or by using an interface plate on each robot. The actuator pack sections are configured to be coupled together in at least one state. This coupling may be during operation or during transportation. For transportation, the sections can be separated in the field and used to perform their own robotic tasks separately.

[0028] FIG. 3a shows an example of mounting of actuators without a housing section. In this example, the actuators 301 are mounted onto a substrate in five rows of two actuators each. The substrate 302 is machined to fit within the housing section. The mounting substrate is connected to a top plate 303 with connecting bars 304. The actuators are shown to be connected in series using cables 305. The mounting substrate, top plate and connector bars may be made of any suitable material. For example, they may be metallic or plastic materials. In the example shown, the mounting substrate is connected to an interface plate 306. FIG. 3b shows an example of an interface plate 306 around one of the actuators 301. The actuator is bolted into the mounting frame and interface plate using bolts 307. The interface plate may be bolted to the housing using bolts 308.

[0029] FIG. 4 shows a cross section of an actuator pack of the present disclosure. In this case, a first section 401 and a second section 402 of the actuator pack are connected to each other. In this example, a connection plate 403 is between the two sections of the actuator pack. In the actuator pack, a pair of actuators 404a,b are shown on both the first and second sections of the actuator. The actuators are mounted on a frame 405 that connects and holds them and the electronics in place. The frame is connected to a housing in two sections. The secure connection of the actuators in the actuator pack means that the actuator pack is easily and safely transportable and can be easily taken to the point of work. The rotating section of the actuator is connected to a coupling means. The connection plate is shown to have two sides 403a,b that connect with the two sections of the actuator pack. Each half is two connection faces that connect with the head of the actuator. The connection faces are connected to tendons that run through the connection plate.

[0030] The actuator pack is connected to a suitable computer. The connection may be physical, via a cable, or via wireless communication. The computer requires a processor and memory to execute a program that an operator can use to control the actuator pack. This control allows the operator to control the movement of the continuum arm robot. The operator may interface with the computer using an input system. This may be button controls, a keyboard, a mouse, a touch screen, or via a joystick or similar input. The computer may be a laptop, desktop, or tablet computer system. The operation of the actuators may be performed remotely, so that the operator is not present with respect to the actuator pack. In that case, the actuator pack may have an internet access card connected to a computer controller within the actuator pack. The software can use the kinematic model to calculate a model of the robot arm movement. Using this model, the software can determine the flexion required at each of the joints and calculate the actuator movement required when changing the joint angle to obtain the deformation of the continuum arm. This signal is sent to the actuator pack controller.

[0031] FIG. 5 shows an example of a connection plate 500 for an actuator pack. The connection plate may be permanently fixed to the end of the robot arm, allowing for quick changes of the robot to the actuator pack. The connection plate may be provided with openings 501 to allow easy access for the tendons to the actuators in the actuator pack. The connection plate may be provided with a protective collar 502 that extends from the connection plate and protects the end of the continuum arm robot from damage near the connection point with the actuator body. This therefore increases the durability of the continuum robot. The protective collar may be open or closed. The protective collar may be provided with holes through which the continuum robot or the tendons extending therefrom can be threaded so that the tendons can be fed into the connection plate. The tendons of the actuators may then be fed into channels, grooves, or slots in the connection plate. The openings may be provided with spring-loaded clutch plates 503 that are connected to the tendons. The connectors on the connection plate are the parts that mate with the heads of the actuators. This may be a molded part designed to engage with the heads of the actuators of the actuator pack. The connection plate may have two rows of openings or holes. These may be provided on either side of the connecting plate so that it can connect to the actuator pack halves on either side. Alternatively, the rows may be mounted next to each other so that the actuator pack sections are mounted next to each other. The connecting plates may be connected to the actuator pack sections using fasteners or other non-permanent connecting means 504. The fasteners may be bolts or screws. Alternatively, the connecting means may be clamps with levers that pull them together. The connecting plates may have alignment features 505 on them. The alignment features ensure that the connecting plates are correctly mounted to the actuator packs. They also ensure that the holes or openings in the connecting plate are aligned with the positions of the actuators so that they can mate with the actuators, if present. The connecting plate may be provided with slots 506 or channels through it. The slots or channels allow the tendons of the continuum robot to pass through the connecting plate. The channels may extend to the openings so that the tendons can be protected from the edges of the collar or interface plate to the actuators.The connection plate may be provided with tendon brakes. These may be clamps located behind the collar in the connection plate. Having these brakes in the connection plate allows bending of the active or passive sections of the continuum robot during handling, changing the length of the tendons without affecting the length of the tendons in the connection plate. Bending of the robot during handling is unavoidable, and the slack created in the tendons is enough for them to pop out of the spool grooves, which means the removal process, or for the tendons to move within the connection plate. The brakes may be manually actuated. Alternatively, the brakes may be automatically actuated when the connection plate is removed from one or more actuator packs.

[0032] FIG. 6 shows an example of a spring-loaded clutch plate according to one embodiment of the present disclosure. The spring-loaded clutch plate 600 is mounted on an axle to which the robot's tendon cables are attached and extend from the connection plate. The spring-loaded clutch plate 600 includes a main plate 601 with a clutch plate 602 that is pushed away from the main plate by the use of a spring 603. The clutch plate may utilize between one and six springs. Preferably, this may be between two and four springs. The spring-loaded clutch plate is shown to have grooves 604, which allow the tendons to wrap around them. The spring-loaded clutch plate may be provided with a reversible clamp 605 that allows the tendons to be released. This may also have a ferrule that secures the ends of the tendon cables. The tendons can be connected to the spring-loaded clutch plate to maintain tension on the tendons when the robot arm is removed from the actuator pack. The spring-loaded clutch plate may be provided with a connector that attaches to an actuator in the actuator pack section. This means that the spring presses the clutch plate against the side wall of the connecting plate and the force generated by the spring creates a resistance to spool rotation due to contact friction. This helps to maintain tension in the tendons. The spring clutch plate may be provided with a higher friction coating. This coating of the clutch plate ensures a secure coupling with the actuator.

[0033] 7a-7d show an example of a spring-loaded clutch plate connection to an actuator in an actuator pack. In FIG. 7a, a connection plate 701 is moved towards an actuator pack 702. A friction plate 703 on it does not connect with an actuator head 704. In FIG. 7b, the inside of an actuator spool 705 is aligned with an actuator tendon spool 706 on the connection plate. The spool may have a chamfered edge to aid in alignment, as shown. In FIG. 7c, the friction plate is placed in contact with the actuator. In FIG. 7d, a captive bolt 707 pulls the spool back onto the actuator, providing a load for friction-based torque transfer. With the spool in place, the actuator can manipulate tendons in a continuum robot. This friction plate provides a high and consistent coefficient of friction for torque transfer. The coefficient of friction for the friction plate may be 0.7. This robot base friction plate is pushed away from the spool by a spring to hold the spool in place when not coupled to an actuator. To remove the connecting plate, the captive bolts are released and the connecting plate can be removed from the actuator pack.

[0034] It will be understood that the present invention is not limited to the embodiments described above, and that various modifications and improvements can be made within the scope of the following claims without departing from the concepts described herein. [Explanation of symbols]

[0035] 101 Continuum Robot Arm 102, 200, 702 Actuator Packs 103, 204, 301, 404a, 404b Actuators 104 Rail 105 Cable 106, 107, 108 Joints Sections 201, 202, 401, and 402 203, 306 Interface plate 205 Positioning Methods 206 Ventilation section 207, 403, 500, 701 Connection plate 208 Color 209 Route 210 Connector 211 Positioning Department 212 Attachment 302 Substrate 303 Upper Plate 304 Connecting rod 305 Cable 307, 308 Volts 403a, 403b side 501 Aperture 502 Protective Collar 503, 600 Spring-loaded clutch plate 504 Connection Method 505 Alignment section 506 Slots 601 Main plate 602 Clutch plate 603 Spring 604 Groove 605 Reversible Clamp 703 Friction plate 704 Actuator Head 705 Actuator Spool 706 Tendon Spool 707 Mooring bolt

Claims

1. A continuous arm robot comprising a robotic arm and a connecting plate, wherein the connecting plate is connected to the end of the robotic arm via a collar, the connecting plate has a channel extending from one end and communicating with a plurality of openings, the plurality of openings through which the ends of their respective tendons are inserted, a rotatable plate is located within the plurality of openings, the rotatable plate is attached to an axle connected to the connecting plate, and one of the tendons associated with the openings is connected to the rotatable plate.

2. The continuous arm robot according to claim 1, wherein the rotatable plate has a groove around it, and the tendon is located within the rotatable plate.

3. The continuous arm robot according to claim 1, wherein the rotatable plate is covered with a coating having a higher coefficient of friction than the material of the rotatable plate.

4. The continuous arm robot according to claim 1, wherein the surface of the rotatable plate opposite to the connection portion with the axle has a projection or cut-out section formed to engage with the head of the actuator.

5. The continuous arm robot according to claim 1, wherein the collar further comprises a protective collar extending from the collar and preventing bending of the robot arm within the vicinity of the collar.

6. The continuous arm robot according to claim 1, wherein openings are provided on multiple surfaces of the connecting plate.

7. A continuous arm robot system comprising a continuous arm robot according to any one of claims 1 to 6 and at least one actuator pack having a plurality of exposed actuator heads, wherein the opening of the connecting plate is aligned with the actuator of the actuator pack, and the tendon is coupled to the actuator.

8. The continuous arm robot system according to claim 7, wherein the connecting plate and the actuator pack are provided with corresponding alignment features for positioning the connecting plate on the actuator pack.

9. The continuous arm robot system according to claim 7, wherein the actuator pack and the connecting plate are joined together by non-permanent fasteners.

10. The continuous arm robot system according to claim 7, wherein the connecting plate has openings on multiple surfaces, and actuator packs are connected to each surface of the connecting plate having openings extending from the connecting plate.

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