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Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments. / Ma, Nan; Monk, Stephen; Cheneler, David.
2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022. Institute of Electrical and Electronics Engineers Inc., 2023. p. 158-164 (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022).

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Ma, N, Monk, S & Cheneler, D 2023, Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments. in 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022. 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022, Institute of Electrical and Electronics Engineers Inc., pp. 158-164, 7th International Conference on Robotics and Automation Engineering, ICRAE 2022, Singapore, Singapore, 18/11/22. https://doi.org/10.1109/ICRAE56463.2022.10054612

APA

Ma, N., Monk, S., & Cheneler, D. (2023). Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments. In 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022 (pp. 158-164). (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE56463.2022.10054612

Vancouver

Ma N, Monk S, Cheneler D. Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments. In 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022. Institute of Electrical and Electronics Engineers Inc. 2023. p. 158-164. (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022). doi: 10.1109/ICRAE56463.2022.10054612

Author

Ma, Nan ; Monk, Stephen ; Cheneler, David. / Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments. 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 158-164 (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022).

Bibtex

@inproceedings{57020051fb7c48969b9700f465ce7223,
title = "Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments",
abstract = "The decommissioning of nuclear sites is a significant and growing engineering challenge often requiring specialist equipment, especially when the nuclear site is partially submerged with contaminated water. However, most currently available decommissioning tools are large, bulky structures that lack dexterity. In this paper, a novel dual-arm continuum robot, which is composed of two 6-degree of freedom (DoF) continuum arms that can be simultaneously employed, is developed. To improve the mechanical performance of the continuum arms, additional compliant mechanisms (flexure hinges) were integrated into its design. By combining the dual-arm continuum robot with a commercial unmanned underwater vehicle (UUV), the system can be deployed in many underwater engineering scenarios to conduct complicated tasks. The prototyped dual-arm continuum robot and its control system has been tested to ascertain its kinematic accuracy. It was found the average displacement error is within 5.7% of the 6-DoF continuum robot (length: 540 mm), proving its potential for high-accuracy operation.",
keywords = "continuum robot, dual-arm robot, material retrieval, robot collaboration",
author = "Nan Ma and Stephen Monk and David Cheneler",
year = "2023",
month = mar,
day = "8",
doi = "10.1109/ICRAE56463.2022.10054612",
language = "English",
series = "2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "158--164",
booktitle = "2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022",
note = "7th International Conference on Robotics and Automation Engineering, ICRAE 2022 ; Conference date: 18-11-2022 Through 20-11-2022",

}

RIS

TY - GEN

T1 - Design, Prototyping and Test of a Dual-Arm Continuum Robot for Underwater Environments

AU - Ma, Nan

AU - Monk, Stephen

AU - Cheneler, David

PY - 2023/3/8

Y1 - 2023/3/8

N2 - The decommissioning of nuclear sites is a significant and growing engineering challenge often requiring specialist equipment, especially when the nuclear site is partially submerged with contaminated water. However, most currently available decommissioning tools are large, bulky structures that lack dexterity. In this paper, a novel dual-arm continuum robot, which is composed of two 6-degree of freedom (DoF) continuum arms that can be simultaneously employed, is developed. To improve the mechanical performance of the continuum arms, additional compliant mechanisms (flexure hinges) were integrated into its design. By combining the dual-arm continuum robot with a commercial unmanned underwater vehicle (UUV), the system can be deployed in many underwater engineering scenarios to conduct complicated tasks. The prototyped dual-arm continuum robot and its control system has been tested to ascertain its kinematic accuracy. It was found the average displacement error is within 5.7% of the 6-DoF continuum robot (length: 540 mm), proving its potential for high-accuracy operation.

AB - The decommissioning of nuclear sites is a significant and growing engineering challenge often requiring specialist equipment, especially when the nuclear site is partially submerged with contaminated water. However, most currently available decommissioning tools are large, bulky structures that lack dexterity. In this paper, a novel dual-arm continuum robot, which is composed of two 6-degree of freedom (DoF) continuum arms that can be simultaneously employed, is developed. To improve the mechanical performance of the continuum arms, additional compliant mechanisms (flexure hinges) were integrated into its design. By combining the dual-arm continuum robot with a commercial unmanned underwater vehicle (UUV), the system can be deployed in many underwater engineering scenarios to conduct complicated tasks. The prototyped dual-arm continuum robot and its control system has been tested to ascertain its kinematic accuracy. It was found the average displacement error is within 5.7% of the 6-DoF continuum robot (length: 540 mm), proving its potential for high-accuracy operation.

KW - continuum robot

KW - dual-arm robot

KW - material retrieval

KW - robot collaboration

U2 - 10.1109/ICRAE56463.2022.10054612

DO - 10.1109/ICRAE56463.2022.10054612

M3 - Conference contribution/Paper

AN - SCOPUS:85150171782

T3 - 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022

SP - 158

EP - 164

BT - 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Robotics and Automation Engineering, ICRAE 2022

Y2 - 18 November 2022 through 20 November 2022

ER -