Design and performance of a slender soft continuum manipulator for tall structure inspection

IF 1.9 4区 计算机科学 Q3 ENGINEERING, INDUSTRIAL Industrial Robot-The International Journal of Robotics Research and Application Pub Date : 2023-06-16 DOI:10.1108/ir-03-2023-0057
Mohamed Tahir Shoani, Mohamed Najib Ribuan, Ahmad Athif Mohd Faudzi
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Abstract

Purpose The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented challenges through a teleoperated soft continuum manipulator capable of inspecting tall or deep structures with high resolution, an unlimited operation time and the ability to use different arms of the manipulator for different environments and structure sizes. Design/methodology/approach The teleoperated manipulator uses one rotary and two tendon actuators to reach and inspect the interior of a tall (or deep) structure. A sliding part along the manipulator’s body (arm constrainer and tendon router) induces a variable-length bending segment, allowing an inspection camera to be placed at different distances from the desired location. Findings The experiments confirmed the manipulator’s ability to inspect different locations in the structure’s interior. The manipulator also demonstrated a submillimeter motion resolution vertically and a 2.5 mm per step horizontally. The inspection time of the full structure was 48.53 min in the step-by-step mode and was calculated to be 4.23 min in the continuous mode. Originality/value The presented manipulator offers several design novelties: the arm’s thin-wide cross-section, the variable-length bending segment in a fixed-length body, the external rolling tendon routing and the ability to easily replace the arm with another of different material or dimensions to suite different structures and environments.
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一种细长柔性连续体高结构检测机械手的设计与性能
目的目前用于检查高层或深层结构(如塔、烟囱、筒仓和井)的方法受到一定的限制。人工和辅助检测方法,包括人工、无人机、爬壁机器人等,要么成本高昂,要么操作时间有限,要么受现场条件(如温度和辐射)的影响。本研究旨在通过一种远程操作的软连续机械臂来克服目前的挑战,该机械臂能够以高分辨率、无限的操作时间和针对不同环境和结构尺寸使用不同机械臂的能力来检测高层或深层结构。设计/方法/方法遥控机械手使用一个旋转驱动器和两个肌腱驱动器来到达并检查高(或深)结构的内部。沿着机械手身体(手臂约束器和肌腱路由器)的滑动部分诱导可变长度的弯曲段,允许检查摄像机放置在距离所需位置的不同距离上。实验证实了机械手检查结构内部不同位置的能力。该机械手还展示了亚毫米的垂直运动分辨率和2.5毫米的水平运动分辨率。在分步模式下,整个结构的检测时间为48.53 min,在连续模式下计算为4.23 min。所展示的机械手提供了几个设计上的新颖之处:臂的横截面薄而宽,在固定长度的主体中有可变长度的弯曲段,外部滚动肌腱路由,以及可以轻松地用不同材料或尺寸的另一个臂来替换臂,以适应不同的结构和环境。
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来源期刊
CiteScore
4.50
自引率
16.70%
发文量
86
审稿时长
5.7 months
期刊介绍: Industrial Robot publishes peer reviewed research articles, technology reviews and specially commissioned case studies. Each issue includes high quality content covering all aspects of robotic technology, and reflecting the most interesting and strategically important research and development activities from around the world. The journal’s policy of not publishing work that has only been tested in simulation means that only the very best and most practical research articles are included. This ensures that the material that is published has real relevance and value for commercial manufacturing and research organizations. Industrial Robot''s coverage includes, but is not restricted to: Automatic assembly Flexible manufacturing Programming optimisation Simulation and offline programming Service robots Autonomous robots Swarm intelligence Humanoid robots Prosthetics and exoskeletons Machine intelligence Military robots Underwater and aerial robots Cooperative robots Flexible grippers and tactile sensing Robot vision Teleoperation Mobile robots Search and rescue robots Robot welding Collision avoidance Robotic machining Surgical robots Call for Papers 2020 AI for Autonomous Unmanned Systems Agricultural Robot Brain-Computer Interfaces for Human-Robot Interaction Cooperative Robots Robots for Environmental Monitoring Rehabilitation Robots Wearable Robotics/Exoskeletons.
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