A Versatile Continuum Gripping Robot with a Concealable Gripper
Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2023-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0003 |
| _version_ | 1797810703170535424 |
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| author | Shuailong Zhang Fenggang Li Rongxin Fu Hang Li Suli Zou Nan Ma Shengyuan Qu Jian Li |
| author_facet | Shuailong Zhang Fenggang Li Rongxin Fu Hang Li Suli Zou Nan Ma Shengyuan Qu Jian Li |
| author_sort | Shuailong Zhang |
| collection | DOAJ |
| description | Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as “multi-node synergy method” for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures. |
| first_indexed | 2024-03-13T07:11:49Z |
| format | Article |
| id | doaj.art-5d105ddf1d314fdab442bd77bc444b6d |
| institution | Directory Open Access Journal |
| issn | 2692-7632 |
| language | English |
| last_indexed | 2024-03-13T07:11:49Z |
| publishDate | 2023-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj.art-5d105ddf1d314fdab442bd77bc444b6d2023-06-05T19:18:29ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322023-01-01410.34133/cbsystems.0003A Versatile Continuum Gripping Robot with a Concealable GripperShuailong Zhang0Fenggang Li1Rongxin Fu2Hang Li3Suli Zou4Nan Ma5Shengyuan Qu6Jian Li7School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China.School of Automation, Beijing Institute of Technology, Beijing 100081, China.Department of Mechanical, Materials, and Manufacturing Engineering, University of Nottingham, Nottingham, NG7 2QL, UK.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.School of Automation, Beijing Institute of Technology, Beijing 100081, China.Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as “multi-node synergy method” for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures.https://spj.science.org/doi/10.34133/cbsystems.0003 |
| spellingShingle | Shuailong Zhang Fenggang Li Rongxin Fu Hang Li Suli Zou Nan Ma Shengyuan Qu Jian Li A Versatile Continuum Gripping Robot with a Concealable Gripper Cyborg and Bionic Systems |
| title | A Versatile Continuum Gripping Robot with a Concealable Gripper |
| title_full | A Versatile Continuum Gripping Robot with a Concealable Gripper |
| title_fullStr | A Versatile Continuum Gripping Robot with a Concealable Gripper |
| title_full_unstemmed | A Versatile Continuum Gripping Robot with a Concealable Gripper |
| title_short | A Versatile Continuum Gripping Robot with a Concealable Gripper |
| title_sort | versatile continuum gripping robot with a concealable gripper |
| url | https://spj.science.org/doi/10.34133/cbsystems.0003 |
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