  To facilitate sensing and physical interaction in remote and/or constrained
environments, high-extension, lightweight robot manipulators are easier to
transport and reach substantially further than traditional serial chain
manipulators. We propose a novel planar 3-degree-of-freedom manipulator that
achieves low weight and high extension through the use of a pair of spooling
bistable tapes, commonly used in self-retracting tape measures, which are
pinched together to form a reconfigurable revolute joint. The pinching action
flattens the tapes to produce a localized bending region, resulting in a
revolute joint that can change its orientation by cable tension and its
location on the tapes though friction-driven movement of the pinching
mechanism. We present the design, implementation, kinematic modeling, stiffness
behavior of the revolute joint, and quasi-static performance of this
manipulator. In particular, we demonstrate the ability of the manipulator to
reach specified targets in free space, reach a 2D target with various
orientations, and maintain an end-effector angle or stationary bending point
while changing the other. The long-term goal of this work is to integrate the
manipulator with an unmanned aerial vehicle to enable more capable aerial
manipulation.
