TY - GEN
T1 - A Reconfigurable and Deployable Mechanism for In-pipe Manipulation Robot
AU - Xu, Tianye
AU - Lyu, Shengnan
AU - Xiao, Hang
AU - Ding, Xilun
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Manipulation in pipes is challenging since the manipulator needs to complete tasks in a changing environment. In this paper, a novel reconfigurable and deployable mechanism, which can transform between deploying and bending movements through kinematic bifurcation, is presented. The deploying movement is used for adapting to pipes with different diameters; the bending movement is used for traveling through curved pipes. The mechanism is composed of two reconfigurable scissor-like mechanisms and four auxiliary scissor-like mechanisms. The transition process, mobility analysis, topological structure analysis, and kinematic bifurcation analysis of the mechanism are conducted by graph theory and screw theory, which demonstrates the feasibility of the proposed mechanism to operate in pipe. Range of diameters and bend curvatures of pipes is analyzed. A 3D printed prototype is fabricated for validating the analysis and testing the kinematic characteristics of the proposed mechanism.
AB - Manipulation in pipes is challenging since the manipulator needs to complete tasks in a changing environment. In this paper, a novel reconfigurable and deployable mechanism, which can transform between deploying and bending movements through kinematic bifurcation, is presented. The deploying movement is used for adapting to pipes with different diameters; the bending movement is used for traveling through curved pipes. The mechanism is composed of two reconfigurable scissor-like mechanisms and four auxiliary scissor-like mechanisms. The transition process, mobility analysis, topological structure analysis, and kinematic bifurcation analysis of the mechanism are conducted by graph theory and screw theory, which demonstrates the feasibility of the proposed mechanism to operate in pipe. Range of diameters and bend curvatures of pipes is analyzed. A 3D printed prototype is fabricated for validating the analysis and testing the kinematic characteristics of the proposed mechanism.
KW - In-pipe manipulation
KW - Kinematic bifurcation
KW - Reconfigurable mechanism
KW - Screw theory
UR - https://www.scopus.com/pages/publications/85128199472
U2 - 10.1109/ROBIO54168.2021.9739444
DO - 10.1109/ROBIO54168.2021.9739444
M3 - 会议稿件
AN - SCOPUS:85128199472
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 1798
EP - 1803
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -