Abstract: A mobile manipulation system configured to perform objective tasks within human environments is provided. The mobile manipulation system can include a mobile base assembly including a computing device, at least two drive wheels, and a sensor. The mobile manipulation system can include an actuation assembly including a chain cartridge and a drive chain including a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The actuation assembly system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The mobile manipulation system can include a mast attached to the mobile base assembly along which the actuation assembly translates vertically and a head assembly atop the mast including a first collection of sensors. The mobile manipulation system can also include a manipulation payload coupled to the telescopic structure.

Abstract: Actuation systems and methods for actuating a telescopic structure are provided. The actuation system can include a chain cartridge including a drive chain engageably coupled to a drive mechanism actuated by an actuator coupled to a power supply. The drive chain can include a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The drive chain can couple to a distal segment of the plurality of segments. The drive mechanism can impart a linear translation force on the plurality of inter-connected links to cause the distal segment to extend or retract from the telescopic structure. Methods of actuating the actuation system described herein are also provided.