The OmniTread serpentine robot for industrial inspection and surveillance
The OmniTread serpentine robot for industrial inspection and surveillance
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DOI：
10.1108/01439910510582264
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发表时间：
2005-01-01
影响因子：
1.8
通讯作者：
Borenstein, J
中科院分区：
文献类型：
--
作者：
Granosik, G;Hansen, MG;Borenstein, J
目的-描述OmniTread蛇形机器人的设计、构造和性能。提供了在这个新的移动机器人领域的其他设计的回顾。提供创新和独特的机械和控制解决方案。设计/方法论/方法-对机械设计的关键方面及其对机器人性能的影响进行了理论分析。大量的实验和测试有助于优化关键部件的材料选择：轨道和气动波纹管。绩效由独立第三方——西南研究院进行评估。研究发现：气动波纹管是蛇形机器人的最佳关节执行器。它们可以提供强度和依从性，这取决于任务，在最小的体积和重量。研究限制/影响-所描述的原型连接到外部电源和气动电源。一个更小的、完全独立的OmniTread版本目前正在开发中。实际意义-一个功能齐全的OmniTread蛇形机器人将在崎岖的地形上提供前所未有的机动性，例如倒塌建筑物的废墟。这种机器人能够翻越高的障碍物和跨越大的缝隙，同时还能穿过小的开口，这表明它可以在城市搜索和救援、工业检查和军事侦察任务中使用。原创性/价值- OmniTread蛇形机器人融合了多种原创功能，最近获得了三项专利。最引人注目的是集成气动关节执行器与比例位置和刚度控制系统和“轨道四周”的设计。这些特性为蛇形机器人提供了显著的性能改进。
Purpose - Describes the design, construction, and performance of the OmniTread serpentine robot. Provides a review of other designs in this new area of mobile robotics. Presents innovative and unique mechanical and control solutions.Design/methodology/approach - A theoretical analysis of key aspects of the mechanical design and their implications on the performance of the robot is presented. Extensive experimentation and testing helped optimize choices of materials for the critical components: tracks and pneumatic bellows. Performance was evaluated by an independent third party: the Southwest Research Institute.Findings - It was found that pneumatic bellows are optimal joint actuators for serpentine robots. They can provide both strength and compliance, depending on the task, at minimal volume and weight.Research limitations/implications - The described prototype is tethered to external sources of electrical and pneumatic power. A smaller and fully self-contained version of the OmniTread is currently under development.Practical implications - A fully functional OmniTread serpentine robot will provide unprecedented mobility on rough terrain, such as the rubble of a collapsed building. The ability to climb over high obstacles and span large gaps, while still fitting through small openings suggests use of this robot in urban search and rescue, industrial inspection, and military reconnaissance tasks.Originality/value - The OmniTread serpentine robot incorporates multiple original features, which resulted in three recent patents. Most notably are the integrated pneumatic joint actuator with proportional position and stiffness control system and the "Tracks all Around" design. These features provide dramatic performance improvements in serpentine robots.