Design of a snake-like manipulator

Clement, W.I.; Inigo, Rafael M.

doi:10.1016/0921-8890(90)90017-u

Cited by 14 publications

(3 citation statements)

References 3 publications

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“…Snakes achieve locomotion through the propagation of wave-like motions along their bodies. This unique locomotion mechanism allows them to move swiftly even in confined spaces, inspiring the design of robotic grippers [ 189 , 190 , 191 , 192 , 193 , 194 ]. A robot tongue design in [ 195 ] featured a metal-tape backbone enclosed in a PET tube, actuated by pneumatic pressure.…”

Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

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The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

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Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

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“…To enhance the work efficiency in handling the heavy tools, it is indispensable to use a compact, multi-functional power manipulator with force feedback. However, the electrical bilateral master-slave manipulators developed so far for nuclear application have load capacities less than 25 daN< 6 > since, at the present state of technology, it is very difficult to construct a compact multi-functional manipulator able to handle small, light objects as well as large, heavy objects at the same time. Therefore, it is necessary to develop a new class of power manipulator having a high level of load capacity and dexterity.…”

Section: N Objectivesmentioning

confidence: 99%

Development of Telerobotic Systems for Reactor Decommissioning, (II)

Fujii

Usui

Shinohara

1991

Journal of Nuclear Science and Technology

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This paper describes the prototype heavy-duty telerobotic system constructed as a cold test facility for the development of robotic remote handling system technology in reactor decommissioning. The total system is built up with a multi-functional electrical manipulator system, a manipulator transporter system equipped with a tripedal support mechanism, a monitoring system comprising a 3-D TV monitor, and a computer control system for overall system operation. The manipulator system consists of two master manipulators and two corresponding amphibious slave manipulators with load capacities of 100 and 25 daN, respectively. Valuable engineering experiences for developing more advanced heavy-duty telerobotic system have been gained through designing, constructing and testing the system.

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“…Baldur and Blach designed an inflatable central cylinder to enhance the flexibility of manipulators [2]. Clement and Inigo designed a snake-like manipulator in which all of the joints are driven by a single prime mover and the snakelike motion ensures its obstacle avoidance [7] . Chirikjian and Burdick studied kinematics and obstacle avoidance algorithm for hyper-redundant robots [5], [6].…”

Section: B Body Structurementioning

confidence: 99%

Design and motion planning of a mechanical snake

Shan¹,

Koren²

1993

IEEE Trans. Syst., Man, Cybern.

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Abstract-The paper presents the design and motion planning for a mechanical snake robot that was built at the University of Michigan. The structure of the robot enables it to move without wheels. It is constructed of a series of articulated links, each one with a motor and linear solenoid. Although each link has only one motor, this structure allows the body configuration to be easily controlled thereby enabling the robot to move in very cluttered environments. The motion planning system provides the robot with a basic motion pattern that can be easily modified for different tasks and environments. The mechanical snake does not avoid obstacles on its way, but rather "accommodates" them by continuing its motion towards the target while in contact with the obstacles. With our design and motion planning, each link has a different number of degrees-of-freedom in each motion stage, providing the robot with great adaptability even during contact with obstacles in a cluttered environment. I. INTRODUC~ION ROBOTIC DEVICE that is able to crawl into placesA that are too dangerous or too small for people to enter would find many applications in industry. For example, the most recent design of new nuclear power plants contains a reactor vessel with an 8-in space between its bottom and the floor. The bottom of the vessel must be inspected for leaks. A small, flexible robotic device could perform this inspection. Leaks or other problems in municipal sewer systems or utility tunnels could also be investigated and perhaps repaired by such a robot. In an earthquake or other disaster situation, it is oftentimes too hazardous for humans to enter collapsed structures. A robot that could maneuver through the rubble to look for survivors would be invaluable. The commonly utilized wheeled robots cannot fulfill the task because of their large size. Even if they are designed to be small, they cannot carry the tools needed to do the job. Surveillance tasks in the military are sometimes highly dangerous, exposing soldiers to hostile fire or mine fields. A robot that could unobtrusively enter the area and travel to a target while delivering intelligence data would reduce wartime casualties.Robotic devices currently in use do not have the ability to carry out the tasks described above-they are either too large, are not able to move freely in obstacle-cluttered environments, or have wide turning radii. In this research, we have developed a prototype robot with special motion and size characteristics that make it ideal for carrying out tasks that require maneuverability in rough terrain or tight spaces.We began our research by examining standard methods of robot locomotion: legs, wheels, and tracks. These proved to

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Design of a snake-like manipulator

Cited by 14 publications

References 3 publications

Bioinspiration and Biomimetic Art in Robotic Grippers

Bioinspiration and Biomimetic Art in Robotic Grippers

Development of Telerobotic Systems for Reactor Decommissioning, (II)

Design and motion planning of a mechanical snake

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