Structure design and kinematics analysis of continuum detection robot through narrow cavity

被引：0
|
作者：
Zhou Z. [1 ]
Jia J. [1 ]
Wei S. [1 ]
Liu C. [1 ]
Zhang X. [1 ]
Mao L. [1 ]
机构：
[1] State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2020年 / 50卷 / 06期
关键词：
Continuous robot; Kinematics model; Wire-driven robot; Workspace simulation;
D O I：
10.3969/j.issn.1001-0505.2020.06.006
中图分类号：
学科分类号：
摘要：
To solve the problem of multi-degree-of-freedom and wide range detection for the objects inside the narrow cavity, a novel wire-driven continuous robot was designed. First, a modeling method for the robot was presented based on geometric analysis. Then, the mapping relationships among driving space, joint space and operation space of the single joint segment were studied, and the workspace was analyzed. In view of the coupling influences between the joints, a novel decoupling kinematics algorithm was proposed. And the kinematics characteristics of a single-joint segment and a two-joint segment of the wire-driven continuous robot were simulated and investigated. The results demonstrate that the robot can perform multi-degree-of-freedom and wide range of detecting operations through a narrow cavity and has a good bending performance, its maximum working radius of a single-joint segment is 99. 33 mm. The decoupling algorithm is more concise and effective, providing a theoretical and technical foundation for the development of the wire-driven continuous robot system for detecting internal targets in a wide range with multiple degrees of freedom through a narrow cavity. © 2020, Editorial Department of Journal of Southeast University. All right reserved.
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页码：1030 / 1037
页数：7
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