Elephant-inspired tapered cable-driven hyper-redundant manipulator: design and performance analysis.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY Bioinspiration & Biomimetics Pub Date : 2025-01-24 DOI:10.1088/1748-3190/ada907

Zhuo Chen, Hua Zhang, Xinbin Zhang, Jianwen Huo, Liguo Tan, Manlu Liu

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Abstract

The cable-driven hyper-redundant manipulator (CDHM), distinguished by its high flexibility and adjustable stiffness, is extensively utilized in confined and obstacle-rich environments such as aerospace and nuclear facilities. This paper introduces a novel CDHM inspired by the trunk of elephants, which changes the arm structure from cylindrical to conical. This alteration diminishes the arm's self-weight, reduces the moment arm of gravity, decreases the volume of the end joint, narrows the stroke of the driving cables, and boosts the maximum joint speed of the manipulator. Additionally, this study examines the impact of the manipulator's taper on its overall performance from both dynamic and kinematic perspectives. Finally, three prototype manipulators with varying tapers are confirmed, and tests are conducted on each manipulator's motion performance and cable tension. By comparing experimental data, the accuracy of the theoretical analysis and the rationality of the conical structure are confirmed. The results suggest that the proposed new configuration offers certain advantages in terms of cable stroke, joint speed and maximum driving force.

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受大象启发的锥形电缆驱动超冗余机械手：设计和性能分析。

电缆驱动超冗余度机械臂（CDHM）以其高柔性和刚度可调的特点，广泛应用于航空航天和核设施等受限和多障碍物环境中。本文介绍了一种受大象躯干启发的新型CDHM，将手臂结构由圆柱形变为圆锥形。这种改变减小了机械手的自重，减小了力矩臂的重力，减小了末端关节的体积，缩小了驱动索的行程，提高了机械手的最大关节速度。此外，本研究从动力学和运动学的角度考察了机械手的锥度对其整体性能的影响。最后，确定了3个不同锥度的原型机械手，并对每个机械手的运动性能和索张力进行了测试。通过对比实验数据，验证了理论分析的准确性和锥形结构的合理性。结果表明，新结构在索行程、接头速度和最大驱动力方面具有一定的优势。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.