Design and motion control of a tendon-driven continuum robot for aerospace applications
文献类型：期刊论文
| 作者 | Qi, Qian4; Qin, Guodong1; Yang, Zhikang4; Chen, Guangming4; Xu, Jiajun4; Lv, Zhuhai2; Ji, Aihong3,4 |
| 刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
 |
| 出版日期 | 2024-06-22 |
| 关键词 | Continuum robots tendon-driven kinematics trajectory planning special environment application |
| ISSN号 | 0954-4100 |
| DOI | 10.1177/09544100241263004 |
| 通讯作者 | Ji, Aihong(meeahji@nuaa.edu.cn) |
| 英文摘要 | Continuum robots are flexible and compliant. Compared to the case in conventional articulated manipulators, the driving unit can be placed outside the workspace of the robot, so that the motion orientation has a relatively complete linear configuration flow, which can be applied to a special environment with narrow and multiple obstacles such as aerospace. This study presents the development process of a tendon-driven continuum robot (TCR) with a high length-diameter ratio. The skeleton structure which imitates a snake is composed of continuous joints in series. The driving device is operated by using a tendon-driven method, which reduces the complexity of the driving box and control system significantly. The diameter of the robot is designed to be 5 mm, which enables it to work in a narrow and slender space with certain flexibility. Subsequently, a kinematic model of the robot is established. The mode function backbone method is applied to realize TCR trajectory planning. An idea of segmented solving is adopted to achieve trajectory tracking control of the continuum robot. Finally, a prototype of the continuum robot is produced, and the rationality of the robot design and the effectiveness of the motion control method are verified through trajectory simulations and experiments. The robot can perform inspection tasks within a narrow gap of 20 mm with good environmental adaptability. |
| WOS关键词 | INVERSE KINEMATICS ; REDUNDANT ; MANIPULATORS |
| 资助项目 | National Natural Science Foundation of China[52075248] ; National Natural Science Foundation of China[52205018] ; Fundamental Research Funds for the Central Universities[NP2024302] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001251800700001 |
| 出版者 | SAGE PUBLICATIONS LTD |
| 资助机构 | National Natural Science Foundation of China ; Fundamental Research Funds for the Central Universities |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/136325]  |
| 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.Chinese Acad Sci, Inst Plasma Phys, Hefei, Peoples R China 2.Nanjing Med Univ, Nanjing Brain Hosp, Dept Neurosurg, Nanjing, Peoples R China 3.Nanjing Univ Aeronaut & Astronaut, State Key Lab Mech & Control Aerosp Struct, Nanjing, Peoples R China 4.Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Lab Locomot Bioinspirat & Intelligent Robots, Yudao St 29 Qinhuai, Nanjing 210016, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qi, Qian,Qin, Guodong,Yang, Zhikang,et al. Design and motion control of a tendon-driven continuum robot for aerospace applications[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING,2024. |
| APA | Qi, Qian.,Qin, Guodong.,Yang, Zhikang.,Chen, Guangming.,Xu, Jiajun.,...&Ji, Aihong.(2024).Design and motion control of a tendon-driven continuum robot for aerospace applications.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING. |
| MLA | Qi, Qian,et al."Design and motion control of a tendon-driven continuum robot for aerospace applications".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING (2024). |
入库方式： OAI收割
来源：合肥物质科学研究院
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