scholarly journals Novel design of a contractible, tubular continuum manipulator

2020 ◽  
Author(s):  
Zhiguang Xing ◽  
Pengyuan Wang ◽  
Jianwen Zhao
Keyword(s):  
Rigid Body ◽  
Robotic System ◽  
Continuum Manipulators ◽  
Translation Motion ◽  
Continuum Manipulator ◽  
Narrow Space ◽  
Novel Design ◽  
The Continuum

Abstract Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a mechanism. To enhance the displacement accuracy of the tendons and compact the package, the mechanism was designed as a controlled winding roller with rotation and translation motion. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

scholarly journals A novel design of a contractible, tubular continuum manipulator

2020 ◽  
Author(s):  
Zhiguang Xing ◽  
Pengyuan Wang ◽  
Jianwen Zhao
Keyword(s):  
Rigid Body ◽  
Robotic System ◽  
Continuum Manipulators ◽  
Continuum Manipulator ◽  
Narrow Space ◽  
Novel Design ◽  
The Continuum

Abstract Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator bigger workspace, more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a actuating mechanism. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

scholarly journals A novel design of a contractible, tubular continuum manipulator

2020 ◽  
Author(s):  
Zhiguang Xing ◽  
Pengyuan Wang ◽  
Jianwen Zhao
Keyword(s):  
Rigid Body ◽  
Robotic System ◽  
Continuum Manipulators ◽  
Continuum Manipulator ◽  
Narrow Space ◽  
Novel Design ◽  
The Continuum

Abstract Continuum manipulators have advantages in narrow space detections and operations than the rigid-body robots. In this paper, we novel designed a continuum manipulator with contractible/extensive abilities that give the manipulator bigger workspace, more agile and flexible motion than those without these. The robotic system is composed of the continuum deforming body, driving tendons, and a actuating mechanism. A prototype of the robotic system was made to evaluate the motion ability of the proposed design.

Multi-continuum manipulators shape reconstruction using inertial navigation sensors and cameras

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Hao Guo ◽  
Feng Ju ◽  
Ning Wang ◽  
Bai Chen ◽  
Xiaoyong Wei ◽  
...  
Keyword(s):  
Inertial Navigation ◽  
Shape Reconstruction ◽  
Position Information ◽  
Content Type ◽  
Variable Curvature ◽  
Continuum Manipulators ◽  
Spatial Shape ◽  
Continuum Manipulator ◽  
Narrow Space ◽  
The Continuum

Purpose Continuum manipulators are often used in complex and narrow space in recent years because of their flexibility and safety. Vision is considered to be one of the most direct methods to obtain its spatial shape. However, with the improvement of the cooperation requirements of multiple continuum manipulators and the increase of space limitation, it is impossible to obtain the complete spatial shape information of multiple continuum manipulators only by several cameras. Design/methodology/approach This paper proposes a fusion method using inertial navigation sensors and cameras to reconstruct the shape of continuum manipulators in the whole workspace. The camera is used to obtain the position information, and the inertial navigation sensor is used to obtain the attitude information. Based on the above two information, the shape of the continuum manipulator is reconstructed by fitting Bézier curve. Findings The experiment result of single continuum manipulator shows that the cubic Bézier curves is applicable to curve fitting of variable curvature, the maximum fitting error is about 2 mm. Meanwhile, the experiment result shows that this method is not affected by obstacles and can still reconstruct the shape of the continuum manipulators in 3-D space by detecting the position and attitude information of the end. Originality/value According to the authors’ knowledge, this is the first study on spatial shape reconstruction of multiple continuum manipulators and the first study to introduce inertial navigation sensors and cameras into the field of shape reconstruction of multiple continuum manipulators in narrow space. This method is suitable for shape reconstruction of manipulator with variable curvature continuum manipulator. When the vision of multiple continuum manipulators is blocked by obstacles, the spatial shape can still be reconstructed only by exposing the end point. The structure is simple, but it has certain accuracy within a certain range.

Kinematics Modeling of a Notched Continuum Manipulator

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
Zhijiang Du ◽  
Wenlong Yang ◽  
Wei Dong
Keyword(s):  
Curve Fitting ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Forward Kinematics ◽  
Kinematics Modeling ◽  
Continuum Manipulators ◽  
Continuum Manipulator ◽  
The Continuum

In this paper, the kinematics modeling of a notched continuum manipulator is presented, which includes the mechanics-based forward kinematics and the curve-fitting-based inverse kinematics. In order to establish the forward kinematics model by using Denavit–Hartenberg (D–H) procedure, the compliant continuum manipulator featuring the hyper-redundant degrees of freedom (DOF) is simplified into finite discrete joints. Based on that hypothesis, the mapping from the discrete joints to the distal position of the continuum manipulator is built up via the mechanics model. On the other hand, to reduce the effect of the hyper-redundancy for the continuum manipulator's inverse kinematic model, the “curve-fitting” approach is utilized to map the end position to the deformation angle of the continuum manipulator. By the proposed strategy, the inverse kinematics of the hyper-redundant continuum manipulator can be solved by using the traditional geometric method. Finally, the proposed methodologies are validated experimentally on a triangular notched continuum manipulator which illustrates the capability and the effectiveness of our proposed kinematics for continuum manipulators and also can be used as a generic method for such notched continuum manipulators.

A Novel Design of Mobile Robotic System for Opening and Transitioning Through a Watertight Ship Door

2021 ◽  
Author(s):  
Wenyu Zuo ◽  
Rahul Venkatraman ◽  
Gangbing Song ◽  
Zheng Chen
Keyword(s):  
Robotic System ◽  
Novel Design

A new simulation model for hydrodynamic behavior of rigid body in narrow space

2019 ◽  
Vol 182 ◽  
pp. 427-441 ◽  
Author(s):  
Lei Zhang ◽  
Shiyao Lin ◽  
Chizhong Wang ◽  
De Xie ◽  
Jianglong Sun
Keyword(s):  
Rigid Body ◽  
Simulation Model ◽  
Hydrodynamic Behavior ◽  
Narrow Space

Study on multi-section continuum robot wire-tension feedback control and load manipulability

2020 ◽  
Vol 47 (6) ◽  
pp. 837-845
Author(s):  
Azamat Nurlanovich Yeshmukhametov ◽  
Koichi Koganezawa ◽  
Zholdas Buribayev ◽  
Yedilkhan Amirgaliyev ◽  
Yoshio Yamamoto
Keyword(s):  
Control Method ◽  
Tension Control ◽  
Estimation Model ◽  
Content Type ◽  
Wire Tension ◽  
Payload Capacity ◽  
Continuum Robot ◽  
Continuum Manipulators ◽  
And Control ◽  
The Continuum

Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints

2013 ◽  
Vol 461 ◽  
pp. 278-283 ◽  
Author(s):  
Jiang Hai Zhao ◽  
Xiao Dong Ye ◽  
Wen Huan Qian
Keyword(s):  
Nuclear Power ◽  
Kinematic Model ◽  
Modeling Method ◽  
Kinematic Modeling ◽  
Large Space ◽  
Heavy Load ◽  
Continuum Manipulator ◽  
Robot Configuration ◽  
High Flexibility ◽  
The Continuum

Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.

Novel MEMS Fabry-Perot Interferometric Pressure Sensors

2010 ◽  
Vol 638-642 ◽  
pp. 1009-1014 ◽  
Author(s):  
Ivan Padron ◽  
Anthony T. Fiory ◽  
Nuggehalli M. Ravindra
Keyword(s):  
Optical Fiber ◽  
Rigid Body ◽  
Pressure Sensors ◽  
Sensing Element ◽  
Micro Electro Mechanical Systems ◽  
Considerable Advantage ◽  
Fabry Perot ◽  
Mems Technology ◽  
Interferometric Sensor ◽  
Novel Design

A novel design for a Fabry-Perot Interferometric Sensor (FPIS) consisting of a Fabry-Perot cavity formed between two bonded surfaces is discussed. The Fabry-Perot cavity and the optical fiber to which it is coupled are used as the sensing element and interconnect, respectively. The Fabry-Perot cavity is fabricated using the Micro Electro Mechanical Systems (MEMS) technology. The introduction of a center rigid body diaphragm gives this sensor considerable advantage when compared with previous Fabry-Perot cavity based sensors.

Development of a dexterous continuum manipulator for exploration and inspection in confined spaces

2016 ◽  
Vol 43 (3) ◽  
pp. 284-295 ◽  
Author(s):  
Shuntao Liu ◽  
Zhixiong Yang ◽  
Zhijun Zhu ◽  
Liangliang Han ◽  
Xiangyang Zhu ◽  
...  
Keyword(s):  
Aviation Industry ◽  
Content Type ◽  
Confined Spaces ◽  
Kinematics Modeling ◽  
Constrained Environments ◽  
Routine Tasks ◽  
Continuum Manipulator ◽  
Experimental Validations ◽  
Actuation Scheme ◽  
The Continuum

Purpose Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry. Design/methodology/approach Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, this paper proposes a design of a slim and dexterous continuum manipulator. Kinematics modeling, simulation-based dimension synthesis, structural constructions and system descriptions are elaborated. Findings Experimental validations show that the constructed prototype possesses the desired dexterity to navigate through confined spaces with its kinematics calibrated and actuation compensation implemented. The continuum manipulator with different deployed tools (e.g. graspers and welding guns) would be able to perform inspections and other tasks at remote locations in constrained environments. Research limitations/implications The current construction of the continuum manipulator possesses quite some friction inside its structure. The bending discrepancy caused by friction could accumulate to an obvious level. It is desired to further reduce the friction, even though the actuation compensation had been implemented. Practical implications The constructed continuum manipulator could perform inspection and other tasks in confined spaces, acting as an active multi-functional endoscopic platform. Such a device could greatly facilitate routine tasks in the aviation industry, such as guided assembling, inspection and maintenance. Originality/value The originality and values of this paper mainly lay on the design, modeling, construction and experimental validations of the slim and dexterous continuum manipulator for the desired mobility and functionality in confined spaces.

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