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Elephant's Trunk Robot: An Extremely Versatile Under-Actuated Continuum Robot Driven by a Single Motor
Liu YW(刘玉旺)1,2; Ge, Zhuang3; Yang, Shangkui3; Walker, Ian D.4; Ju ZJ(琚兆杰)5
Department空间自动化技术研究室
Corresponding AuthorWalker, Ian D.(iwalker@clemson.edu)
Source PublicationJournal of Mechanisms and Robotics
ISSN1942-4302
2019
Volume11Issue:5Pages:1-17
Indexed BySCI ; EI
EI Accession number20192907195817
WOS IDWOS:000485709300008
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (2018YFB1304600) ; National Natural Science Foundation of China (51605474, 61821005, Funder ID: 10.13039/501100001809) ; Liaoning Revitalization Talents Program (XLYC1807090).
AbstractContinuous-bodied "trunk and tentacle" robots have increased self-adaptability and obstacle avoidance capabilities, compared with traditional, discrete-jointed, robots with large rigid links. In particular, continuous-bodied robots have obvious advantages in grasping objects across a wide range of external dimensions. Not only can they grasp objects using end effectors like traditional robots, but their bodies can also be regarded as a gripping device, and large objects with respect to the robot's scale can be captured by the entire structure of the robots themselves. Existing trunk-like robots have distributed multidrive actuation and are often manufactured using soft materials, which leads to a complex actuator system that also limits their potential applications in dangerous and extreme environments. This paper introduces a new type of elephant's trunk robot with very few driving constraints. The robot consists of a series of novel underactuated linkage units. With a single-motor drive, the robot can achieve stable grasping of objects of different shapes and sizes. The proposed robot simplifies the requirements of the sensing and control systems during the operation process and has the advantage of accomplishing the capture task without determining the exact shape and position of the target object. It is especially suitable for operations such as non-cooperative target capture in extremely dangerous environments, including those in outer space. Based on theoretical analysis and model design, a trunk robot prototype was developed, and a comprehensive experimental study of the bending/extension and grasping operation functions was conducted to verify the validity of the proposed robot design.
Language英语
WOS SubjectEngineering, Mechanical ; Robotics
WOS KeywordKINEMATICS ; IMPLEMENTATION ; MANIPULATOR ; DESIGN ; MODEL
WOS Research AreaEngineering ; Robotics
Funding ProjectNational Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51605474] ; National Natural Science Foundation of China[61821005] ; Liaoning Revitalization Talents Program[XLYC1807090]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25313
Collection空间自动化技术研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 114 Nanta Street, Shenyang 110016, China
2.Chinese Academy of Sciences, Institutes for Robotics and Intelligent Manufacturing, 114 Nanta Street, Shenyang 110016, China
3.Department of Mechanical Engineering and Automation, Northeastern University, 3 Wenhua Street, Shenyang 110819, China
4.Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, 29634, United States
5.Department of Computing, Buckingham Building, Lion Terrace, Portsmouth, PO1 3HE, United Kingdom
Recommended Citation
GB/T 7714
Liu YW,Ge, Zhuang,Yang, Shangkui,et al. Elephant's Trunk Robot: An Extremely Versatile Under-Actuated Continuum Robot Driven by a Single Motor[J]. Journal of Mechanisms and Robotics,2019,11(5):1-17.
APA Liu YW,Ge, Zhuang,Yang, Shangkui,Walker, Ian D.,&Ju ZJ.(2019).Elephant's Trunk Robot: An Extremely Versatile Under-Actuated Continuum Robot Driven by a Single Motor.Journal of Mechanisms and Robotics,11(5),1-17.
MLA Liu YW,et al."Elephant's Trunk Robot: An Extremely Versatile Under-Actuated Continuum Robot Driven by a Single Motor".Journal of Mechanisms and Robotics 11.5(2019):1-17.
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