Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges
Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required....
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Elsevier
2024-02-01
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| Series: | Heliyon |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2405844024021753 |
| _version_ | 1797267686500073472 |
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| author | N. Ma D. Cheneler S.D. Monk |
| author_facet | N. Ma D. Cheneler S.D. Monk |
| author_sort | N. Ma |
| collection | DOAJ |
| description | Within various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges. |
| first_indexed | 2024-03-08T00:09:20Z |
| format | Article |
| id | doaj.art-9b55e558b45449cbb98d2bd2280e3352 |
| institution | Directory Open Access Journal |
| issn | 2405-8440 |
| language | English |
| last_indexed | 2024-04-25T01:20:32Z |
| publishDate | 2024-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Heliyon |
| spelling | doaj.art-9b55e558b45449cbb98d2bd2280e33522024-03-09T09:27:21ZengElsevierHeliyon2405-84402024-02-01104e26144Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hingesN. Ma0D. Cheneler1S.D. Monk2Department of Engineering, Lancaster University, Lancaster, United KingdomDepartment of Engineering, Lancaster University, Lancaster, United KingdomCorresponding author.; Department of Engineering, Lancaster University, Lancaster, United KingdomWithin various unstructured industrial environments, there is often the requirement to conduct remote engineering tasks, such as sampling the structure for analysis prior to decommissioning. Most existing tools are simply not dexterous enough to fulfil this task, and thus new technology is required. We describe here a simple, lightweight, and water-resistant collaborative dual-arm continuum robot system which can aid in this task. To improve the kinematic accuracy of the system, a class of flexible hinges have been combined with a conventional continuum robot configuration. The thickness and width of said flexible hinges can be adjusted to adapt to various tasks. Kinematic and stiffness models have further been developed, incorporating the influence of these flexible hinges. A set of experiments have been conducted to validate the proposed model and demonstrate the advantages of the platform. It was found that the kinematic accuracy of the continuum robot can be improved by a factor of around 10 with the aid of said hinges.http://www.sciencedirect.com/science/article/pii/S2405844024021753Continuum robotDual-arm cooperationUnderwater sample retrievalParallel mechanism |
| spellingShingle | N. Ma D. Cheneler S.D. Monk Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges Heliyon Continuum robot Dual-arm cooperation Underwater sample retrieval Parallel mechanism |
| title | Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges |
| title_full | Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges |
| title_fullStr | Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges |
| title_full_unstemmed | Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges |
| title_short | Improving the kinematic accuracy of a collaborative continuum robot by using flexure-hinges |
| title_sort | improving the kinematic accuracy of a collaborative continuum robot by using flexure hinges |
| topic | Continuum robot Dual-arm cooperation Underwater sample retrieval Parallel mechanism |
| url | http://www.sciencedirect.com/science/article/pii/S2405844024021753 |
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