Collaborative Continuum Robots for Remote Engineering Operations

Ma, Nan and Monk, Stephen and Cheneler, David (2022) Collaborative Continuum Robots for Remote Engineering Operations. Biomimetics, 8 (1).

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Abstract

In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.

Item Type:
Journal Article
Journal or Publication Title:
Biomimetics
Uncontrolled Keywords:
Data Sharing Template/yes
Subjects:
ID Code:
182322
Deposited By:
Deposited On:
22 Dec 2022 13:20
Refereed?:
Yes
Published?:
Published
Last Modified:
04 Feb 2023 01:36