Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots

Abstract

A 3D path-tracking algorithm based on endpoint approximation is proposed to implement the path traversal of robots designed to inspect aircraft fuel tanks. Kinematic models of single-joint segments and multiplejoint segments were created. First, each joint segment of the path was divided into many equal sections and the rotation angle was computed. The rotation angle was found for the plane determined by one divided point and the secondary terminal joint segment. Second, the shortest distance search strategy was used to calculate the bending angle of the joint segment. The main advantage of the algorithm was that only the terminal joint segment variables needed to be solved, the joint variables of other joint segments were copied from the adjacent front-end joint segment variables in turn. Finally, evaluation indexes of path tracking performance were proposed to evaluate the effect of the algorithm. Simulations of planar and space path tracking were carried out using MATLAB, and the effectiveness and stability of the tracking algorithm were verified.

Continuum Robots for Manipulation Applications: A Survey

“…[182] Vine: [166] Multi segmentmultidisc e robot body is composed of multiple discs of the same or varying radii arranged equidistant from each other, along with a backbone structure that is of multiple segments.…”

“…e primary application of vineinspired robots is in the field of space and planetary exploration. Scientists at NASA, Mehling et al [161] and Tonapi et al [163], developed a tendril robot (Figure 6(a)) and a robotic manipulator for minimally invasive inspection along with manipulation for space operations [160][161][162][163][164][165][166][167][168][169][170]. e tendril robot consists of three subsystems with nine motors of actuation, body mechanism, and avionics, as shown in Figure 6(a) [161].…”

Path Planning of Continuum Robot Based on Path Fitting

“…where θ is the bending angle of the fitted joint, φ is the rotation angle of the fitted joint, and O i+1 ∈ P is the end point of the fitting joint, which is one of the discrete points of the feasible path. O i+1 (1) and O i+1 (2) represent the x and y coordinates of the end points, respectively. For the fitting of the middle joint, firstly, we remove the discrete path point before the joint node (i node).…”

“…where vectors O i+1 D ����� �→ and O i+1 ′ M i+1 ��������� �→ are shown in Figure 7(b), respectively. O i+1 ′ M i+1 is the perpendicular bisector of O i+1 D, φ is the rotation angle of the fitting joint, D ∈ P is the discrete point the fitting joint passes, which is a point in the discrete point of the feasible path, and D (1) and D (2) represent the x and y coordinates of the discrete point, respectively.…”

“…It is a complex and narrow environment with complicated structure, high labor intensity, and potential safety hazards. erefore, a device that can replace manual inspection is needed [1]. Compared with the traditional rigid connecting rod robot, the Continuum Robot has the characteristics of multiple redundant degrees of freedom and the separation of the driver and controller, which can theoretically reach any point in space [2,3].…”