Pneumatically operated soft growing robots that extend via tip eversion are well-suited for navigation in confined spaces. Adding the ability to interact with the environment using sensors and tools attached to the robot tip would greatly enhance the usefulness of these robots for exploration in the field. However, because the material at the tip of the robot body continually changes as the robot grows and retracts, it is challenging to keep sensors and tools attached to the robot tip during actuation and environment interaction. In this paper, we analyze previous designs for mounting to the tip of soft growing robots, and we present a novel device that successfully remains attached to the robot tip while providing a mounting point for sensors and tools. Our tip mount incorporates and builds on our previous work on a device to retract the robot without undesired buckling of its body. Using our tip mount, we demonstrate two new soft growing robot capabilities: (1) pulling on the environment while retracting, and (2) retrieving and delivering objects. Finally, we discuss the limitations of our design and opportunities for improvement in future soft growing robot tip mounts.

中文翻译：

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使用软生长机器人运输传感器和工具的尖端支架

通过尖端外翻延伸的气动操作的软生长机器人非常适合在密闭空间中导航。添加使用连接到机器人尖端的传感器和工具与环境交互的能力将大大增强这些机器人在野外探索的实用性。然而，由于机器人身体尖端的材料随着机器人的生长和收缩而不断变化，因此在驱动和环境交互过程中将传感器和工具连接到机器人尖端是具有挑战性的。在本文中，我们分析了以前安装到软生长机器人尖端的设计，我们提出了一种新型装置，它成功地保持连接到机器人尖端，同时为传感器和工具提供安装点。我们的尖端安装结合并建立在我们之前在设备上的工作基础上，该设备可以收回机器人而不会出现不希望的身体屈曲。使用我们的尖端支架，我们展示了两种新的软增长机器人能力：(1) 在收回的同时拉动环境，以及 (2) 检索和交付物体。最后，我们讨论了我们设计的局限性以及未来软生长机器人尖端安装的改进机会。