Error compensation for snake arm maintainer under variable loads

Qin, Guodong; Wu, Huapeng; Ji, Aihong; Shen, Huan; Li, Qian; Han, Qingfei; Yang, Zhen; Wen, Shikun

doi:10.1007/s12206-023-0133-2

Cited by 2 publications

(2 citation statements)

References 23 publications

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“…Based on the basic characteristics of hyper-redundancy robots [9], the following design is made for the bionic variable-section elephant trunk robot described in this paper:…”

Section: Structure Designmentioning

confidence: 99%

A hyper-redundant robot based on variable cross-section design

Zheng,

Wu,

Liu

et al. 2024

Preprint

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A variable-section design for hyper-redundant robots is proposed in this paper. In industrial development, especially in the aerospace industry, nuclear industry, and medical field, where traditional rigid linkage robots are not sufficiently adapted to the working environment such as narrow and complex space and high-risk working space, and the stiffness of hyper-redundant robots with equal cross-section is insufficient. In aim to solve this problem, a hyper-redundant robot using variable cross-section design method and decoupled motion control method is proposed in this paper. The simulation results show that the variable section design has good mechanical properties and the trajectory planning meets the requirements. A prototype machine was manufactured to verify its design. Equipped with a nozzle at the end of the robot and completed disinfection operations, shows the robot was capable of completing various tasks as a platform. The research results will provide a new theoretical basis for the design of hyper-redundancy.

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“…Based on the basic characteristics of hyper-redundancy robots [9], the following design is made for the bionic variable-section elephant trunk robot described in this paper:…”

Section: Structure Designmentioning

confidence: 99%

A hyper-redundant robot based on variable cross-section design

Zheng,

Wu,

Liu

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…As shown in Fig. 4, a snake robot introduced in [13] and [14] could be used as the end effector of the multipurpose in-cell robot, which is introduced previously. Also, the wall-climbing mobile robot for inspecting DEMO VVs could be used here as an inspection robot in the narrow space [15].…”

Section: B Inspection Robotmentioning

confidence: 99%

Design and Development on the Remote Maintenance Tools and Strategy of the Port Closure Plate in DEMO

Li,

Wu,

Eskelinen

et al. 2024

IEEE Trans. Plasma Sci.

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In the international thermonuclear experimental reactor (ITER) and the demonstration power plant (DEMO), there are three kinds of ports: the upper port (UP), the equatorial port (EP), and the lower port (LP). The applications and structures of the upper, equatorial, and LPs are different between those of ITER and DEMO. In DEMO, the breeding blankets (BBs) could be removed from the UP, a multipurpose deployer is transported and installed in the EP, and the divertor is maintained through the LP. It is noted that during remote maintenance (RM), the operating environment must be safe for the operators. To achieve this goal, reliable RM tools and RM strategies must be designed and developed. One of the containment barriers of the tokamak is the port closure plates (PCPs), which weighs between 1.3 and 25 tons depends on its location, and the PCPs need to be removed during the maintenance process. Therefore, in this article, the current designs of the PCPs are first presented. Then, the RM tools in both commercial and research stages are studied for the RM of the PCPs. Next, the RM strategies are designed and developed for each port. Finally, suggestions for the development of different RM tools are proposed.

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Error compensation for snake arm maintainer under variable loads

Cited by 2 publications

References 23 publications

A hyper-redundant robot based on variable cross-section design

A hyper-redundant robot based on variable cross-section design

Design and Development on the Remote Maintenance Tools and Strategy of the Port Closure Plate in DEMO

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