Knowledge Commons of Institute of Automation,CAS
A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces | |
Mingrui, Luo1; Yunong, Tian1![]() ![]() ![]() ![]() ![]() | |
2023-12 | |
会议名称 | 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
会议日期 | 2023-10-1 |
会议地点 | Detroit, USA |
摘要 | Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it considers both compactness and operability. By imitating the structure and behavior of a constricting snake, it can be uncoiled sequentially from a coiled storage state, led by the head. In terms of control methods, we propose a multi-layer control system that can make remote operations more accurate and reliable. On the one hand, guiding, segmenting, and following the path overcome the planning ambiguity caused by redundancy. On the other hand, conduit transmission modeling and cable length correction overcome the nonlinear mapping of cable-driven joints and were verified in experiments. Through tests, the mobile integrated system composed of C-CDHRM has an excellent performance in operation precision and accuracy, ensuring safety and accessibility in narrow spaces. Finally, in field experiments, the inspection and cleaning of various types of electrical equipment have been successfully completed, showing excellent application prospects. |
关键词 | Design methodology Redundancy Inspection Manipulators Control systems Cleaning Safety |
学科门类 | 工学 ; 工学::控制科学与工程 |
DOI | 10.1109/IROS55552.2023.10341359 |
收录类别 | EI |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 高通过性仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57072 |
专题 | 中科院工业视觉智能装备工程实验室 |
通讯作者 | En, Li |
作者单位 | 1.the Engineering Laboratory of Industrial Vision and Intelligent Equipment Technology, Chinese Academy of Sciences 2.the Beijing University of Technology |
推荐引用方式 GB/T 7714 | Mingrui, Luo,Yunong, Tian,En, Li,et al. A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces[C],2023. |
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