A Hyper-Redundant Robot Development for Tokamak Inspection

被引：2
|
作者：
Dutta, Pramit [1 ]
Gotewal, K. K. [1 ]
Rastogi, Naveen [1 ]
Tiwari, Raviranjan [1 ]
ManoahStephen, M. [1 ]
机构：
[1] Inst Plasma Res, RHRTD Div, Gandhinagar, India
来源：
PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17) | 2017年
关键词：
Hyper-redundant manipulator; Kinematic modelling; Tokamak;
D O I：
10.1145/3132446.3134876
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Hyper-redundant manipulators are an alternative to serial manipulators that can be used for inspection and maintenance in constrained location. They are highly suitable for inspections in tokamak environment, where the robotic systems need to have multiple degrees of freedom, light weight, fast deployment and retrieval mechanism and high dexterity. In this paper, the design concept and control mechanism of a 3 link tendon driven hyper-redundant inspection system is presented. The paper details the structural design, kinematic modelling, control algorithm development and practical implementation of the hyper-redundant robot with experiments. The prototype developed is used for evaluating the control mechanism and provide a proof of concept.
引用
收藏
页数：6
相关论文
共 50 条
  • [41] Development of virtual link method for the solution of hyper-redundant spatial robots
    Ashrafiuon, H
    Sanka, K
    JOURNAL OF ROBOTIC SYSTEMS, 1996, 13 (06): : 371 - 378
  • [42] A DOF State Controllable & Driving Shared Solution for Building a Hyper-Redundant Chain Robot
    Ning, KeJun
    Woergoetter, Florentin
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 5880 - 5885
  • [43] Kinematics Analysis of a 3-DOF Joint for a Novel Hyper-Redundant Robot Arm
    Behrens, Roland
    Kuechler, Conrad
    Foerster, Tilo
    Elkmann, Norbert
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
  • [44] A fractional approach for the motion planning of redundant and hyper-redundant manipulators
    Marcos, Maria da Graca
    Machado, J. A. Tenreiro
    Azevedo-Perdicoulis, T. -P.
    SIGNAL PROCESSING, 2011, 91 (03) : 562 - 570
  • [45] An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators
    Marcos, Maria da Graca
    Tenreiro Machado, J. A.
    Azevedo-Perdicoulis, T. -P.
    NONLINEAR DYNAMICS, 2010, 60 (1-2) : 115 - 129
  • [46] On hyper-redundant multiple-link robots
    Lenarcic, J
    LABORATORY ROBOTICS AND AUTOMATION, 1996, 8 (01) : 11 - 16
  • [47] Kinematically optimal hyper-redundant manipulator configurations
    Johns Hopkins Univ, Baltimore, United States
    IEEE Trans Rob Autom, 6 (794-806):
  • [48] DEVELOPMENT OF A HYPER-REDUNDANT MULTIJOINT MANIPULATOR FOR MAINTENANCE OF NUCLEAR-REACTORS
    MA, SG
    HIROSE, S
    YOSHINADA, H
    ADVANCED ROBOTICS, 1995, 9 (03) : 281 - 300
  • [49] An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators
    Maria da Graça Marcos
    J. A. Tenreiro Machado
    T.-P. Azevedo-Perdicoúlis
    Nonlinear Dynamics, 2010, 60 : 115 - 129
  • [50] Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
    Xanthidis, Marios
    Kyriakopoulos, Kostantinos
    Rekleitis, Ioannis
    2016 24TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2016, : 207 - 213
12345