Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments
Liu, J, Richardson, R, Hewson, R et al. (1 more author)
(2015)
Mechanical Design of Long Reach Super Thin Discrete Manipulator for Inspections in Fragile Historical Environments.
In: Dixon, C and Tuyls, K, (eds.)
Lecture Notes in Computer Science.
Towards Autonomous Robotic Systems 16th Annual Conference, TAROS 2015, 08-10 Sep 2015, Liverpool, UK.
Springer Verlag
, pp. 155-160.
ISBN 978-3-319-22415-2
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.
Metadata
Item Type:
Proceedings Paper
Authors/Creators:
Liu, J
Richardson, R
Hewson, R
Whitehead, S
Editors:
Dixon, C
Tuyls, K
Copyright, Publisher and Additional Information:
(c) 2015, Springer International Publishing Switzerland. This is an author produced version of a paper published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. The final publication is available at Springer via http://doi.org/10.1007/978-3-319-22416-9_18
Keywords:
Exploration; Long reach; Discrete backbone; Robot archaeology; Snake arm; Tendon tension; Minimally invasive; Small diameter
CORE (COnnecting REpositories)
CORE (COnnecting REpositories)