Kinematics and control of a cable-driven snake-like manipulator for underwater application
<p>In view of the large volume, complex structure, and poor performance of traditional underwater manipulators in some complicated underwater scenarios, a cable-driven snake-like manipulator (CDSLM) is proposed. In this paper, the kinematics model of the proposed CDSLM is firstly established,...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2022-06-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/13/495/2022/ms-13-495-2022.pdf |
| _version_ | 1828781985725677568 |
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| author | F. Xue Z. Fan |
| author_facet | F. Xue Z. Fan |
| author_sort | F. Xue |
| collection | DOAJ |
| description | <p>In view of the large volume, complex structure, and poor
performance of traditional
underwater manipulators in some complicated underwater scenarios, a cable-driven snake-like manipulator (CDSLM) is
proposed. In this paper, the kinematics model of the proposed CDSLM is
firstly established, which can be decomposed into three parts: motor–cable
kinematics, cable–joint kinematics, and joint–end kinematics. A
tip-following algorithm is then presented to weave through the
confined and hazardous spaces along a defined path with high efficiency. The main merit of the
algorithm is that only the terminal section variables need to be calculated
and recorded, which solves the problem of expensive computational cost for
the inverse kinematics of snake-like manipulators. Finally, evaluation
indexes of the path-following performance are proposed to evaluate the effect of
the tip-following algorithm. Simulations of the path-tracking performance
are carried out using MATLAB. The results demonstrate that the average
computation time is about 1.6 ms, with a deviation of less than 0.8 mm from
the desired path, and the stability and effectiveness of the tip-following
algorithm are verified.</p> |
| first_indexed | 2024-12-11T17:41:40Z |
| format | Article |
| id | doaj.art-2650e86a8dad4af88e8445eb45dbe9cf |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-12-11T17:41:40Z |
| publishDate | 2022-06-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-2650e86a8dad4af88e8445eb45dbe9cf2022-12-22T00:56:30ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2022-06-011349550410.5194/ms-13-495-2022Kinematics and control of a cable-driven snake-like manipulator for underwater applicationF. XueZ. Fan<p>In view of the large volume, complex structure, and poor performance of traditional underwater manipulators in some complicated underwater scenarios, a cable-driven snake-like manipulator (CDSLM) is proposed. In this paper, the kinematics model of the proposed CDSLM is firstly established, which can be decomposed into three parts: motor–cable kinematics, cable–joint kinematics, and joint–end kinematics. A tip-following algorithm is then presented to weave through the confined and hazardous spaces along a defined path with high efficiency. The main merit of the algorithm is that only the terminal section variables need to be calculated and recorded, which solves the problem of expensive computational cost for the inverse kinematics of snake-like manipulators. Finally, evaluation indexes of the path-following performance are proposed to evaluate the effect of the tip-following algorithm. Simulations of the path-tracking performance are carried out using MATLAB. The results demonstrate that the average computation time is about 1.6 ms, with a deviation of less than 0.8 mm from the desired path, and the stability and effectiveness of the tip-following algorithm are verified.</p>https://ms.copernicus.org/articles/13/495/2022/ms-13-495-2022.pdf |
| spellingShingle | F. Xue Z. Fan Kinematics and control of a cable-driven snake-like manipulator for underwater application Mechanical Sciences |
| title | Kinematics and control of a cable-driven snake-like manipulator for underwater application |
| title_full | Kinematics and control of a cable-driven snake-like manipulator for underwater application |
| title_fullStr | Kinematics and control of a cable-driven snake-like manipulator for underwater application |
| title_full_unstemmed | Kinematics and control of a cable-driven snake-like manipulator for underwater application |
| title_short | Kinematics and control of a cable-driven snake-like manipulator for underwater application |
| title_sort | kinematics and control of a cable driven snake like manipulator for underwater application |
| url | https://ms.copernicus.org/articles/13/495/2022/ms-13-495-2022.pdf |
| work_keys_str_mv | AT fxue kinematicsandcontrolofacabledrivensnakelikemanipulatorforunderwaterapplication AT zfan kinematicsandcontrolofacabledrivensnakelikemanipulatorforunderwaterapplication |