An elephant-like robotic trunk having large workspace, which can curl up in free space carrying heavy loads and bypassing obstacles can be used for search and rescue applications and bomb disposal while mounted on a mobile platform. The basic mechanism is composed of two motors independently rotating two cylinders which act as a mechanical “exoskeleton” for carrying heavy loads and ensuring high rigidity and accuracy at the edge of the mechanism. The mechanism can be reduced in size and used also in medical applications where there is a need for accurately reaching and looking around obstacles while maintaining a rigid structure for delivering surgical tools inside the body.