Operating outside the spacecraft via remotely controlled structures is an important opportunity in the space context. The research in this area is focused on designing robots that are sufficiently flexible to allow inspection in locations where access is difficult or impossible for astronauts, while minimizing weight and bulk. The purpose of the research is to design a borescope for space applications with no hinges or other mechanisms, inspired by the natural world. 

A preliminary numerical activity was performed to give a trade off between several composite layup solutions, leading to the definition of the borescope geometrical parameters and to an initial estimate of the displacements that can be achieved. In a second phase a technological manufacturing cycle was developed to find the best embedment metchod for SMA wires actuators. Special attention was paid to the evaluation of load transfer capability between actuators and structures by considering different constraining methods. Seven prototypes were produced and tested, with one or more wires, to validate the design and to search for a configuration that can be actuated in different directions. Experiments were perfomed in a special devoted set-up in a laboratory environment. Thermal analyses allowed to study the behaviour of the hingeless arm in space environment. In particular interaction among actuators and between actuators and composite structure were evaluated. Last, strategies for thermal control of the structure were also taken into account considering both actuators heating and cooling techniques. Obtained results clearly show the importance of the cooling phase and the need to implement very efficient isolating solution.