Advertisement

Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments

  • Jason Liu
  • Robert Richardson
  • Rob Hewson
  • Shaun Whitehead
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9287)

Abstract

Long reach and small diameter manipulators are ideal for borehole deployments into search and rescue scenarios and fragile historical environments. Small diameter passageways impose constraints on a snake arm manipulator which severely limit its performance and capabilities. This work investigates the effects of tendon tensions on the maximum working length of a snake arm under tight size constraints and how the maximum length is achieved through an algorithmic approach and consideration of how and when key parts fail.

Keywords

Exploration Long reach Discrete backbone Robot archaeology Snake arm Tendon tension Minimally invasive Small diameter 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Jueyao, W., Xiaorui, Z., Fude, T., Tao, Z., Xu, X.: Design of a modular robotic system for archaeological exploration. In: IEEE International Conference on Robotics and Automation, ICRA 2009, pp. 1435–1440, May 12–17, 2009Google Scholar
  2. 2.
  3. 3.
    Daler, L., Lecoeur, J., Hahlen, P.B., Floreano, D.: A flying robot with adaptive morphology for multi-modal locomotion. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1361–1366, November 3–7, 2013Google Scholar
  4. 4.
    Morris, A., Ferguson, D., Omohundro, Z., Bradley, D., Silver, D., Baker, C., Thayer, S., Whittaker, C., Whittaker, W.: Recent developments in subterranean robotics. Journal of Field Robotics 23(1), 35–57 (2006)CrossRefGoogle Scholar
  5. 5.
    Murphy, R.R., Kravitz, J., Stover, S., Shoureshi, R.: Mobile robots in mine rescue and recovery. Robotics & Automation Magazine, IEEE 16(2), 91–103 (2009)CrossRefGoogle Scholar
  6. 6.
    Hirose, S.: Biologically inspired robots: snake-like locomotors and manipulators. Oxford University Press (1993)Google Scholar
  7. 7.
    Buckingham, R.O., Graham, A.C.: Dexterous manipulators for nuclear inspection and maintenance - case study. In: 2010 1st International Conference on Applied Robotics for the Power Industry (CARPI), pp. 1–6, October 5–7 2010Google Scholar
  8. 8.
    Junhu, H., Rong, L., Ke, W., Hua, S.: The mechanical design of snake-arm robot. In: 2012 10th IEEE International Conference on Industrial Informatics (INDIN), pp. 758–761, July 25–27, 2012Google Scholar
  9. 9.
    Chalfoun, J., Bidard, C., Keller, D., Perrot, Y., Piolain, G.: Design and flexible modeling of a long reach articulated carrier for inspection. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, pp. 4013–4019, October 29, 2007–November 2, 2007Google Scholar
  10. 10.
    Howard Allen, P.B.: Cylindrical shell in axial compression. In: Background to Buckling, pp. 515–524. McGraw-Hill Book Company (UK) Limited (1980)Google Scholar
  11. 11.
    Hunter, D.F.: ESDU 88034 avoidance of buckling of some engineering elements (struts, plates and gussets). In: IHS ESDU (1988)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Jason Liu
    • 1
  • Robert Richardson
    • 1
  • Rob Hewson
    • 2
  • Shaun Whitehead
    • 3
  1. 1.School of Mechanical EngineeringUniversity of LeedsLeedsUK
  2. 2.Faculty of EngineeringImperial CollegeLondonUK
  3. 3.Scoutek Ltd.Saltburn-by-the-SeaUK

Personalised recommendations