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    Design and Control of SLPM-Based Extensible Continuum Arm

    Source: Journal of Mechanisms and Robotics:;2022:;volume( 014 ):;issue: 006::page 61003
    Author:
    Zhuang, Zheming;Zhang, Ze;Guan, Yuntao;Wei, Wei;Li, Mi;Tang, Zhao;Kang, Rongjie;Song, Zhibin;Dai, Jian S.
    DOI: 10.1115/1.4054996
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: As an important branch of reconfigurable robots, extensible continuum robots are soft and light, with the flexibility of movement and high adaptability in complex environments. These robots have very broad applications in a variety of fields, including military reconnaissance, geological exploration and rescue operations. In this paper, a high folding ratio, flexible, and compact extensible continuum arm is designed using a novel combination of parallel and deployable mechanisms. We present the spherical-linkage parallel mechanism (SLPM) as a flexure hinge. The analysis suggests that the SLPM is highly flexible and meets the requirements for many DoFs (degrees-of-freedom) needed in various fields. The folding ratio of the SLPM was 72.73. Following this, we present an SLPM compliant module powered by a set of embedded shape memory alloy (SMA) springs. These can change the internal elasticity of the module as temperature changes, thereby varying the stiffness. Moreover, the control system is designed to enable real-time cooperation between multiple motors and carries out simulations for deployable motion. The extensible continuum arm prototype was manufactured and its performance was tested in complex environments. From the results, it is shown that the arm can be utilized for rescue during disasters as well as investigation and repair of aircraft engines.
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      Design and Control of SLPM-Based Extensible Continuum Arm

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    contributor authorZhuang, Zheming;Zhang, Ze;Guan, Yuntao;Wei, Wei;Li, Mi;Tang, Zhao;Kang, Rongjie;Song, Zhibin;Dai, Jian S.
    date accessioned2022-12-27T23:15:00Z
    date available2022-12-27T23:15:00Z
    date copyright9/12/2022 12:00:00 AM
    date issued2022
    identifier issn1942-4302
    identifier otherjmr_14_6_061003.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288211
    description abstractAs an important branch of reconfigurable robots, extensible continuum robots are soft and light, with the flexibility of movement and high adaptability in complex environments. These robots have very broad applications in a variety of fields, including military reconnaissance, geological exploration and rescue operations. In this paper, a high folding ratio, flexible, and compact extensible continuum arm is designed using a novel combination of parallel and deployable mechanisms. We present the spherical-linkage parallel mechanism (SLPM) as a flexure hinge. The analysis suggests that the SLPM is highly flexible and meets the requirements for many DoFs (degrees-of-freedom) needed in various fields. The folding ratio of the SLPM was 72.73. Following this, we present an SLPM compliant module powered by a set of embedded shape memory alloy (SMA) springs. These can change the internal elasticity of the module as temperature changes, thereby varying the stiffness. Moreover, the control system is designed to enable real-time cooperation between multiple motors and carries out simulations for deployable motion. The extensible continuum arm prototype was manufactured and its performance was tested in complex environments. From the results, it is shown that the arm can be utilized for rescue during disasters as well as investigation and repair of aircraft engines.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleDesign and Control of SLPM-Based Extensible Continuum Arm
    typeJournal Paper
    journal volume14
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4054996
    journal fristpage61003
    journal lastpage61003_12
    page12
    treeJournal of Mechanisms and Robotics:;2022:;volume( 014 ):;issue: 006
    contenttypeFulltext
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    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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