Design and motion control of an under-actuated snake arm maintainer
文献类型：期刊论文
| 作者 | Qin, Guodong1; Ji, Aihong1; Cheng, Yong2 ; Zhao, Wenlong2; Pan, Hongtao2; Shi, Shanshuang2; Song, Yuntao2
|
| 刊名 | ROBOTICA
 |
| 出版日期 | 2022-06-01 |
| 卷号 | 40 |
| 关键词 | snake arm maintainer layered drive motion control special environment application |
| ISSN号 | 0263-5747 |
| DOI | 10.1017/S026357472100134X |
| 通讯作者 | Ji, Aihong(meeahji@nuaa.edu.cn) |
| 英文摘要 | This study presents an under-actuated snake arm maintainer (SAM) for complex and extreme environments such as nuclear power plants. The structure adopts the layered cable drive principle, whereby a single drive layer drives multiple joints. This design significantly reduces the complexity of the control system while increasing the spatial curvature. The traction of multiple wire ropes with a composite capstan drives the synchronous angular motion of several adjacent joints. By changing the number of joints in the single driver layer of the snake arm, the arm can be adapted to various complex environments. The trajectory planning and trajectory tracking motion control methods of the under-actuated SAM are established based on the improved backbone method and the variable rod length algorithm. Finally, a 10-joint prototype with an arm length of 2300 mm is designed for nuclear reactor maintenance. Trajectory experiments confirmed the rationality of the under-actuated SAM, the correctness of the inverse kinematics, and the effectiveness of the motion control methods. |
| WOS关键词 | HYPER-REDUNDANT MANIPULATORS ; INVERSE KINEMATICS |
| 资助项目 | National Key R&D program of China[2019YFB1309600] ; National Natural Science Foundation of China[51861135306] ; National Natural Science Foundation of China[51875281] ; National Natural Science Foundation of China[11802305] ; China National Special Project for Magnetic Confinement Fusion Science Program[2017YFE0300503] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000792203000001 |
| 出版者 | CAMBRIDGE UNIV PRESS |
| 资助机构 | National Key R&D program of China ; National Natural Science Foundation of China ; China National Special Project for Magnetic Confinement Fusion Science Program |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/130801]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Ji, Aihong |
| 作者单位 | 1.Nanjing Univ Aeronaut & Astronaut, Inst Bioinspired Struct & Surface Engn, Nanjing, Peoples R China 2.Chinese Acad Sci, Inst Plasma Phys, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qin, Guodong,Ji, Aihong,Cheng, Yong,et al. Design and motion control of an under-actuated snake arm maintainer[J]. ROBOTICA,2022,40. |
| APA | Qin, Guodong.,Ji, Aihong.,Cheng, Yong.,Zhao, Wenlong.,Pan, Hongtao.,...&Song, Yuntao.(2022).Design and motion control of an under-actuated snake arm maintainer.ROBOTICA,40. |
| MLA | Qin, Guodong,et al."Design and motion control of an under-actuated snake arm maintainer".ROBOTICA 40(2022). |
入库方式： OAI收割
来源：合肥物质科学研究院
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