Snake-Arm Robots: A New Approach to Aircraft Assembly

Buckingham, Rob; Chitrakaran, V.K.; Conkie, Rosalind; Ferguson, Geoff; Graham, Andrew; Lazell, Alex; Lichon, Mariusz; Parry, Nick; Pollard, Fred; Kayani, Amir; Redman, Mike; Summers, Mark; Green, Brett

doi:10.4271/2007-01-3870

Cited by 63 publications

(29 citation statements)

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“…The algorithm is suitable for spatial motions and is effective to satisfy the requirements of the real-time control. Key words：hyper-redundant manipulator；tip-following path planning；motion planning 0 前言 1 随着超冗余度机械臂在航天航空制造、核电设备检修和地震灾后救援等领域的应用不断深入 [1][2][3] ，机械臂的设计及运动规划逐渐受到学者们的关注。刚性结构的超冗余度机械臂 [4][5] 相比于柔性材料构 * 国家自然科学基金资助项目(51435010, 51622506)。20170620 收到初稿， 20171031 收到修改稿成的连续体机械臂 [6] ，往往具有更高的运动精度和更好的负载能力 [7] ，更加适用于危险狭窄的深腔作业。实现避障运动是超冗余度机械臂的运动规划的主要目标之一，目前学者们提出了多种有效避障规划方法，如人工势场法 [8][9] 、神经网络算法 [10] 、遗传算法 [11] 以及模糊控制算法 [12] 等。上述避障算法保证机械臂末端完成指定工作任务，同时连杆和关节避开障碍，强调末端作业能力，而未将连杆和关节的运动严格约束。为进一步提升超冗余度机械臂穿越 …”

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Tip-following Path Planning and Its Performance Analysis for Hyper-redundant Manipulators

Wang¹

2018

JME

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Abstract： The hyper-redundant manipulators have the features of large length/diameter ratio, high degree of freedoms and good dexterity.To improve the efficiency of their motion in confined space, a tip-following path planning algorithm is proposed. With the feed motion of the base, the manipulators' links and joints can track a desired path curve, sweeping through a tiny area in a 3D confined space. To enhance the efficiency of the algorithm, an iteratively sequential searching method is proposed for the fast matching between the manipulators' key-points and the path curve. A linear interpolation optimization method is then developed to reduce the path following errors caused by discretization of the path curve. The performance of the algorithm is evaluated in terms of the position accuracy, movement smoothness and calculation efficiency based on the simulation of a hyper-redundant manipulator with 12 joints. The results show that the manipulator accurately follows the desired path with deviations of less than 5 μm, and the average computation time is about 1 ms. The algorithm is suitable for spatial motions and is effective to satisfy the requirements of the real-time control. Key words：hyper-redundant manipulator；tip-following path planning；motion planning 0 前言 1 随着超冗余度机械臂在航天航空制造、核电设备检修和地震灾后救援等领域的应用不断深入 [1][2][3] ，机械臂的设计及运动规划逐渐受到学者们的关注。刚性结构的超冗余度机械臂 [4][5]

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Tip-following Path Planning and Its Performance Analysis for Hyper-redundant Manipulators

Wang¹

2018

JME

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“…For example, the active chord mechanism developed by Shigeo et al 12 which was composed of a large number of segments and joints was the pioneer work of rigid-backbone hyper-redundant robots. Recently, OC robotics, 3 a company in United Kingdom, developed several commercial this kind of robots, which were successfully applied to the inspection of nuclear reactor. Yang et al 13 designed an anthropomimetic 7-DOFs cabledriven robotic arm which had the similar workspace of human arm.…”

Section: Introductionmentioning

confidence: 99%

“…In comparison with traditional robots, they have a larger number of DOFs which make them very suitable for applications in unconstructed and clamped environments. 2 Thus, they may play a critical role in inspection and maintenance of complex industrial devices such as aircraft wings, 3 engines, nuclear reactors, and pipelines 4,5 ; search and rescue operations in disaster situation; 6 and minimally invasive surgery (MIS) instruments. [7][8][9] Many hyper-redundant robot mechanisms have been designed, which can be roughly classified into two categories: rigid-backbone robots and continuum-backbone robots.…”

Section: Introductionmentioning

confidence: 99%

Design of a cable-driven hyper-redundant robot with experimental validation

Tang

Wang

Yang

et al. 2017

International Journal of Advanced Robotic Systems

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This article presents a test bed for comprehensive study of a cable-driven hyper-redundant robot in terms of mechanical design, kinematics analysis, and experimental verification. To design the hyper-redundant robot, the multiple section structure is used. Each section consists of two rotational joints, a link mechanism, and three cables. In this sense, two degrees of freedom are achieved. For kinematics analysis between the actuator space and joint space, each section of the development is treated as three spherical-prismatic-spherical chains and a universal joint chain (3-SPS-U), which results in a four-chain parallel mechanism model. In order to obtain the forward kinematics from the joint space to task space directly and easily, the coordinate frames are established by the geometrical rules rather than the traditional DenavitHartenburg (D-H) rules. To solve the problem of inverse kinematics analysis, we utilize the product of exponentials approach. Finally, a prototype of 24-degrees of freedom hyper-redundant robot with 12 sections and 36 cables is fabricated and an experiment platform is built for real-time control of the robot. Different experiments in terms of trajectories tracking test, positioning accuracy test, and payload test are conducted for the validation of both mechanical design and model development. Experiment results demonstrate that the presented hyper-redundant robot has fine position accuracy, flexibility with mean position error less than 2%, and good load capacity.

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“…Without any propulsion force for forward movement by a serpentine motion, a mobile robot equipped snake-type arm mechanisms had been studied (e.g. ; surveying robot equipped with snake-type arm on wheel robot [12], assembling an aircraft using a snake-type arm mounted on a traditional industrial robot arm [13], and linear motion mechanism mounted on base of snake-type arm [14]). When entering the camera at the tip of the arm into the narrow space, the snake-type arm changes its attitude so as to avoid obstacles and the intrusion operation (forward approach action) is in charge of the base unit.…”

Section: Introductionmentioning

confidence: 99%