Active uncoiling and feeding of a continuum arm robot
Active uncoiling and feeding of a continuum arm robot
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DOI：
10.1016/j.rcim.2018.09.003
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发表时间：
2019-04-01
影响因子：
10.4
通讯作者：
Axinte, D.
中科院分区：
文献类型：
--
作者：
Palmer, D.;Axinte, D.
连续体臂在难以到达的环境（通常是原位）的检查和修复中的使用越来越受欢迎。这些应用程序的特点是在场景外部和内部占用的空间较少。以前的方法需要在这一领域的重大足迹，潜在地限制了可能的开发。本文中报告的算法演示了一种在螺旋鼓上主动盘绕/展开连续体臂的方法，该方法可以在实际计算时间内应用于多个轨迹。与预期轨迹的偏差低于3 mm或1度，平均在0.031 s内计算单个步骤，或在170 s内完成新轨迹的计算。
Continuum arms are becoming more popular for use in inspection and repair of hard to reach environments, typically in-situ. These applications characteristically have less space outside the scenario as well as internally. Previous approaches require a significant footprint in this area, potentially limiting the possible exploitations. The algorithm reported within this paper demonstrates a method to actively coil / uncoil a continuum arm on a helical drum, which can be applied to multiple trajectories within a practical computation time. Deviations from desired trajectory are below 3 mm or 1 degrees, individual steps calculated on average in 0.031 s, or complete computation for new trajectory within 170 s.