Home > Research > Publications & Outputs > Collaborative Continuum Robots for Remote Engin...

Research

Associated organisational units

Electronic data

Links

Text available via DOI:

Keywords

View graph of relations

Collaborative Continuum Robots for Remote Engineering Operations

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Published

Standard

Collaborative Continuum Robots for Remote Engineering Operations. / Ma, Nan; Monk, Stephen; Cheneler, David.
In: Biomimetics, Vol. 8, No. 1, 4, 22.12.2022.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Ma, N, Monk, S & Cheneler, D 2022, 'Collaborative Continuum Robots for Remote Engineering Operations', Biomimetics, vol. 8, no. 1, 4. https://doi.org/10.3390/biomimetics8010004

APA

Ma, N., Monk, S., & Cheneler, D. (2022). Collaborative Continuum Robots for Remote Engineering Operations. Biomimetics, 8(1), Article 4. https://doi.org/10.3390/biomimetics8010004

Vancouver

Ma N, Monk S, Cheneler D. Collaborative Continuum Robots for Remote Engineering Operations. Biomimetics. 2022 Dec 22;8(1):4. doi: 10.3390/biomimetics8010004

Author

Ma, Nan ; Monk, Stephen ; Cheneler, David. / Collaborative Continuum Robots for Remote Engineering Operations. In: Biomimetics. 2022 ; Vol. 8, No. 1.

Bibtex

@article{3ae91bbec6ed429c8a9827d225d53d10,
title = "Collaborative Continuum Robots for Remote Engineering Operations",
abstract = "In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.",
keywords = "continuum robot, dual-arm robot, collaborative operation, in situ operation",
author = "Nan Ma and Stephen Monk and David Cheneler",
year = "2022",
month = dec,
day = "22",
doi = "10.3390/biomimetics8010004",
language = "English",
volume = "8",
journal = "Biomimetics",
number = "1",

}

RIS

TY - JOUR

T1 - Collaborative Continuum Robots for Remote Engineering Operations

AU - Ma, Nan

AU - Monk, Stephen

AU - Cheneler, David

PY - 2022/12/22

Y1 - 2022/12/22

N2 - In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.

AB - In situ repair and maintenance of high-value industrial equipment is critical if they are to maintain the ability to continue vital operations. Conventional single-arm continuum robots have been proven numerous times to be successful tools for use in repair operations. However, often more than one arm is needed to ensure successful operation within several scenarios; thus, the collaborative operation of multiple arms is required. Here, we present the design and operating principles of a dual-arm continuum robot system designed to perform critical tasks within industrial settings. Here, presented are the design principle of the robotic system, the optimization-based inverse kinematic calculation of the 6-DoF continuum arms, and the collaborative operation strategy. The collaborative principle and algorithms used have been evaluated by a set of experiments to demonstrate the ability of the system to perform in situ machining operations. With the developed prototype and controller, the average error between planned and real toolpaths can be within 2.5 mm.

KW - continuum robot

KW - dual-arm robot

KW - collaborative operation

KW - in situ operation

U2 - 10.3390/biomimetics8010004

DO - 10.3390/biomimetics8010004

M3 - Journal article

VL - 8

JO - Biomimetics

JF - Biomimetics

IS - 1

M1 - 4

ER -