A. Dautov, E. Kopets, A. Karimov, V. Rybin, Aliya M. Khafizova, Mariya S. Sigaeva
{"title":"无线电遥控触手机器人的研制","authors":"A. Dautov, E. Kopets, A. Karimov, V. Rybin, Aliya M. Khafizova, Mariya S. Sigaeva","doi":"10.1109/CTS53513.2021.9562916","DOIUrl":null,"url":null,"abstract":"The article devotes to the development of a robotic tentacle belonging to the class of soft robots. Such robots provide reliable grasping of objects in hard-to-reach places without great mechanical effort, which makes them in-demand in various fields of collaborative robotics. The working principle of a mechanical tentacle is described. A solution to the problems of positioning and providing motion of the tentacle, for which it is proposed to use feedback based on load cells and a drive mechanism based on stepper motors, is considered. The mentioned design solutions were applied and investigated during creation of a prototype of a tentacle robot, and their perspectivity is recognized.","PeriodicalId":371882,"journal":{"name":"2021 IV International Conference on Control in Technical Systems (CTS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Development of a Radio-Controlled Tentacle Robot\",\"authors\":\"A. Dautov, E. Kopets, A. Karimov, V. Rybin, Aliya M. Khafizova, Mariya S. Sigaeva\",\"doi\":\"10.1109/CTS53513.2021.9562916\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The article devotes to the development of a robotic tentacle belonging to the class of soft robots. Such robots provide reliable grasping of objects in hard-to-reach places without great mechanical effort, which makes them in-demand in various fields of collaborative robotics. The working principle of a mechanical tentacle is described. A solution to the problems of positioning and providing motion of the tentacle, for which it is proposed to use feedback based on load cells and a drive mechanism based on stepper motors, is considered. The mentioned design solutions were applied and investigated during creation of a prototype of a tentacle robot, and their perspectivity is recognized.\",\"PeriodicalId\":371882,\"journal\":{\"name\":\"2021 IV International Conference on Control in Technical Systems (CTS)\",\"volume\":\"24 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-09-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IV International Conference on Control in Technical Systems (CTS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CTS53513.2021.9562916\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IV International Conference on Control in Technical Systems (CTS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CTS53513.2021.9562916","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The article devotes to the development of a robotic tentacle belonging to the class of soft robots. Such robots provide reliable grasping of objects in hard-to-reach places without great mechanical effort, which makes them in-demand in various fields of collaborative robotics. The working principle of a mechanical tentacle is described. A solution to the problems of positioning and providing motion of the tentacle, for which it is proposed to use feedback based on load cells and a drive mechanism based on stepper motors, is considered. The mentioned design solutions were applied and investigated during creation of a prototype of a tentacle robot, and their perspectivity is recognized.