Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space
Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space
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DOI：
10.1109/access.2022.3162835
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发表时间：
2022-01-01
期刊：
影响因子：
3.9
通讯作者：
Tadokoro, Satoshi
中科院分区：
文献类型：
--
作者：
Yamauchi, Yu;Ambe, Yuichi;Tadokoro, Satoshi
柔性连续体机器人在探索复杂空间方面具有相当大的潜力，并且它们能够使大的身体形状变形可以增加检查区域。我们以前提出了一个喷气驱动飞行连续灭火机器人。实现大形状变形的主要挑战是适应由变形引起的主体的扭曲。为了解决这个问题，我们提出了一个二维被动旋转喷嘴单元，可以扩大扭转净力的方向性，但是，它还没有在飞行机器人上进行测试。在这项研究中，我们实现了大的形状变形的射流驱动飞行连续体机器人使用改进的被动旋转喷嘴单元，可以处理三维（3D）力。首先，我们开发了一个改进的喷嘴单元的模型，并确认该单元可以增加净力的方向。在这里，旋转阻尼器的设计策略，以处理所产生的电机限制的不稳定性进行了讨论。将稳定飞行控制器应用于带喷管的连续体机器人。仿真结果表明，2米的机器人可以执行大的头部弯曲（从0度到135度）。尽管先前的固定喷嘴单元扭曲了大约40度，这使得喷嘴的额外可移动范围实际上为零，但是所提出的喷嘴单元保持可移动范围以避免扭曲。我们通过实验证实了喷嘴单元可以扩展3D净力的方向，并且使用1.6 m飞行机器人可以实现约+/-90度的大形状弯曲。
Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can expand the directionality of net force against torsion; however, it has not yet been tested on a flying robot. In this study, we achieved the large shape deformations of a jet-actuated flying continuum robot using an improved passive rotating nozzle unit that can handle three-dimensional (3D) force. First, we developed a model of the improved nozzle unit and confirmed that the unit can increase the net force direction. Herein, the design strategy for the rotary damper to handle the instability that arises from motor limitations is discussed. The stabilized flight controller was applied to a continuum robot with the nozzle unit. Simulation results showed that the 2 m robot could perform large head bends (from 0 degrees to 135 degrees). Although the previous fixed nozzle unit twisted by approximately 40 degrees, which made the extra movable range of the nozzles effectively zero, the proposed nozzle unit maintained the movable range to avoid twisting. We experimentally confirmed that the nozzle unit can expand the direction of the 3D net force, and that a large shape bending of approximately +/- 90 degrees can be achieved using a 1.6 m flying robot.