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

Qin, Guodong; Wang, Qi; Li, Changyang; Ji, Aihong; Wu, Huapeng; Yang, Zhen; Wen, Shikun

doi:10.1108/ir-11-2022-0271

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…This article mainly focuses on the six degree of freedom upper limb rehabilitation robot constructed in the laboratory in the early stage, and first completes its kinematic and dynamic modeling [30]. Then, interpolation points in the joint space of the upper limb rehabilitation robot that meet the requirements of rehabilitation medicine and biomechanics were determined, and the planning and optimization of the motion trajectory were achieved.…”

Section: B Csa Algorithm Process Design Integrating Multi-objective T...mentioning

confidence: 99%

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Xia

2023

IEEE Access

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With the aging global population, there are more patients with hemiplegia caused by stroke. The demand for rehabilitation robots to assist rehabilitation therapists is also increasing. To solve the above problems, a reasonable trajectory planning of the rehabilitation robot joints is constructed to achieve rehabilitation assistance, improve safety and practicality.Firstly, a Kinematics model is constructed, and B-spline is applied to realize the trajectory planning of the rehabilitation robot. By introducing crow search algorithm and multiple crow search algorithms, the energy impact multi-objective optimization for the upper limb movement of the rehabilitation robot is carried out. Relevant experiments are designed to compare and verify the optimization effects of the algorithms. From the results, by optimizing the crow search algorithm, only 25.36% and 34.20% of the impact and energy are used. The average impact size per unit of time decreases by 74.68%. The energy consumption per unit time decreases by 65.39%.After optimizing the crow search algorithm, the impact and energy per unit time are only 14.41% and 17.25%, respectively. The energy per unit time decreases by 74.53%, and the impact decreases by 82.97%. Compared with other algorithms, the space complexity of the improved method is very small, and the standard deviation is 0.03. The optimization algorithm performs well in trajectory planning optimization. It is of great significance in the trajectory planning and rehabilitation role of rehabilitation robots.

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Section: B Csa Algorithm Process Design Integrating Multi-objective T...mentioning

confidence: 99%

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Xia

2023

IEEE Access

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Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review

Pistone,

Ludovico,

De Mari Casareto Dal Verme

et al. 2024

Annual Reviews in Control

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Kinetostatics of a Snake Robot with Redundant Degrees of Freedom

Zhao,

Sun,

et al. 2024

Machines

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This paper proposes a kinetostatic approach for analyzing the joint torques of a redundant snake robot. The method is suitable for weightless space environments. With the high degree of freedom and flexible cable actuation, the redundant snake robot is well-suited for utilization in space-weightless environments. This method reduces computational cost by using the multiplication of matrices and vectors instead of inverse matrices. Taking advantage of the velocity screw (twist) and force screw (wrench), this strategy provides an idea for redundant serial robots to achieve the calculation of joint torques. This methodology is straightforward for programming and has good computational efficiency. The instantaneous work performed by the actuation is expressed with the force screw. According to the principle of virtual work, the kinetostatic equation of the robot can be obtained and the torque required for each joint can be determined. Meanwhile, to solve the inertia force generated by joint acceleration, D’Alembert’s principle is adopted to transform the dynamic problem into a static problem. Through kinetostatic analysis of a redundant snake robot, this paper shows the approach of establishing the kinetostatic model to calculate the torque in screw form. At the same time, the actuation distribution of the redundant snake robot is also cracked effectively for practical purposes. Due to the difficulty of achieving weightless space environments, this paper validates the method by using ADAMS simulation without gravity in the simulation.

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

Cited by 3 publications

References 16 publications

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review

Kinetostatics of a Snake Robot with Redundant Degrees of Freedom

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