A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

Liu, Jiaxin; Zhang, Aoshun; Li, En; Guo, Rui; Li, Shengchuan; Luo, Mingrui

doi:10.1155/2022/7659012

Cited by 4 publications

(2 citation statements)

References 59 publications

(72 reference statements)

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“…For example, in aeronautics and astronautics, 46 a hyper-redundant manipulator needs to perform maintenance and assembly operations in narrow cavities such as wing box segments and inlets. In the nuclear power industry, 47 many pipelines are in hightemperature conditions or conveying cooling medium. It is very important to carry out nondestructive testing and maintenance of these pipes by using hyper-redundant manipulators.…”

Section: Sensor Resistance Testing To High and Low Temperaturesmentioning

confidence: 99%

Bioinspired Flexible Capacitive Sensor for Robot Positioning in Unstructured Environments

Zhou,

Zhang,

Bai

et al. 2024

ACS Appl. Mater. Interfaces

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The evolution of bionic machines into intelligent robots to adapt to real scenarios is inseparable from positioning sensors. However, traditional positioning methods such as camera arrays, ultrasound, or GPS are limited in narrow concealed spaces, harsh temperatures, or dynamic light fields, which hinder the practical application of special robots. Here, we report a flexible sensor inspired by Gnathonemus petersii that enables robots to achieve contactless and high-precision spatial localization independent of the unstructured features of the environment. Sensors are obtained from lowcost materials (carbon nanotubes and polyimides) and simple structures (fibers) and preparation processes (spin-coating). Experiments and simulations confirmed the high resolution (<1 mm) of the sensor over a large distance detection range (>150 mm) and high bandwidth (0−520 MPa) of contact force. Moreover, the sensing capability is still feasible when the sensor is bent to various curvatures and not affected under harsh conditions such as ultralow temperatures (below −78 °C), ultrahigh temperatures (over 250 °C), darkness, or brightness. We demonstrate the practical potential of the proposed sensors for a biomimetic hyperredundant continuum robot to locate and avoid collisions in unstructured environments.

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Section: Sensor Resistance Testing To High and Low Temperaturesmentioning

confidence: 99%

Bioinspired Flexible Capacitive Sensor for Robot Positioning in Unstructured Environments

Zhou,

Zhang,

Bai

et al. 2024

ACS Appl. Mater. Interfaces

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“…Chirikjian and Burdick (1995) introduces the use of a backbone curve model to obtain basic macroscopic geometric features of an ETR. Currently, most hyper-redundant robots have the entire arm connected in series by several rigid joint units of an equal cross-section to form the entire robot arm (Liu et al , 2022). The advantage is that the modular design of each joint unit is simpler in terms of processing, manufacturing and motion control.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a cable-driven elephant trunk robot with variable cross-sections

Qin

Wang²,

Li³

et al. 2023

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Purpose In large equipment and highly complex confined workspaces, the maintenance is usually carried out by snake-arm robots with equal cross-sections. However, the equal cross-sectional design results in the snake arm suffering from stress concentration and restricted working space. The purpose of this paper is to design a variable cross-section elephant trunk robot (ETR) that can address these shortcomings through bionic principles. Design/methodology/approach This paper proposes a cable-driven ETR to explore the advantages and inspiration of variable cross-section features for hyper-redundant robot design. For the kinematic characteristics, the influence of the variable cross-section design on the maximum joint angle of the ETR is analysed using the control variables method and the structural parameters are selected. Based on the biological inspiration of the whole elephant trunk following the movement of the trunk tip, a trajectory-tracking algorithm is designed to solve the inverse kinematics of the ETR. Findings Simulation and test results show the unique advantages of the proposed variable cross-section ETR in kinematics and forces, which can reduce stress concentrations and increase the flexibility of movement. Originality/value This paper presents a design method for a variable cross-section ETR for confined working spaces, analyses the kinematic characteristics and develops a targeted trajectory control algorithm.

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Spatial Environment Perception and Sensing in Automated Systems: A Review

Fei,

Mukhopadhyay,

Da Costa

et al. 2024

IEEE Sensors J.

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A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space

Cited by 4 publications

References 59 publications

Bioinspired Flexible Capacitive Sensor for Robot Positioning in Unstructured Environments

Bioinspired Flexible Capacitive Sensor for Robot Positioning in Unstructured Environments

Design and development of a cable-driven elephant trunk robot with variable cross-sections

Spatial Environment Perception and Sensing in Automated Systems: A Review

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