This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal...This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.展开更多
A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different...A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it＇ s motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A DSP based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.展开更多
An inchworm-like capsule robot(ILCR) is a promising device for a minimally invasive diagnosis and treatment of colon diseases. It consists of two expanders and one extensor, the former provides a traction force by exp...An inchworm-like capsule robot(ILCR) is a promising device for a minimally invasive diagnosis and treatment of colon diseases. It consists of two expanders and one extensor, the former provides a traction force by expanding the colon and the latter can elongate and retract to enable active locomotion. However, the locomotion efficiency of the ILCR can be seriously lowered by the complex colon environment featuring slippery, viscoelastic, and suspend properties, which has been a main obstacle to its clinical application. This paper aims at improving the locomotion efficiency of the ILCR by optimizing its extensor design. To do this, the locomotion resistance of the ILCR in the colon is analyzed, and complying with a requirement that the traction force must be larger than the locomotion resistance to avoid slipping, a restriction on the extensor design is obtained. Then under the restriction and with reference to the Hyperelastic model which correlates stress and strain of colon tissue, a model for analyzing the influence of the design parameters of the extensor on the locomotion efficiency of the ILCR is built. With this model, the extensor has been optimized and the optimized results have been used to guide the development of a novel extensor, which employs two pairs of lead-screws and nuts and is actuated by one motor. Ex-vivo experiment has shown that the novel extensor can improve the locomotion efficiency of an ILCR prototype by 57%, without changing its total length.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.62303095)Fundamental Research Funds for the Central Universities(Grant No.2682025CX080).
文摘This paper presents a novel 6-degree-of-freedom(DOF)inchworm-like robot inspired by bionics,designed to perform pipe inspection tasks with high flexibility in complex,unstructured environments.To determine the optimal dimensions of each link,a Nash bargaining solution-based multi-objective optimization framework is developed,evaluating performance indicators such as reachable workspace,global manipulability,and acceleration capability.Inspired by the inchworm locomotion,three distinct climbing gaits are designed to enhance adaptability in confined and irregular spaces.To ensure safe and reliable operation,transition analysis is conducted and the operational workspace is systematically calculated.Moreover,a novel global path planning algorithm specially designed for the inchworm-like robot,termed inchworm-like robot rapidly-exploring random tree(ICHRRT*),is proposed.As an improved algorithm of RRT*,this method integrates gait planning and transition analysis to generate feasible and collision-free paths tailored to the robot’s unique structure and motion characteristics.A physical prototype is developed,and trusscrossing experiments are conducted in a truss environment.Experimental results validate the robot’s superior climbing capability and its effectiveness in navigating obstacles.
文摘A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it＇ s motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A DSP based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.
基金supported by the National Natural Science Foundation of China(Grant Nos.61803347,61673271&81601631)the Shanxi Province Science Foundation for Youths(Grant No.201801D221201)+3 种基金the Youth Academic Leader Support Project of North University of China(Grant No.QX201808)the Opening Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology(Grant No.XJZZ201803)the Science and Technology Commission of Shanghai Municipality(Grant No.15441903100)the Science and Technology on Electronic Test and Measurement Laboratory,North University of China(Grant No.WD614200104011804)
文摘An inchworm-like capsule robot(ILCR) is a promising device for a minimally invasive diagnosis and treatment of colon diseases. It consists of two expanders and one extensor, the former provides a traction force by expanding the colon and the latter can elongate and retract to enable active locomotion. However, the locomotion efficiency of the ILCR can be seriously lowered by the complex colon environment featuring slippery, viscoelastic, and suspend properties, which has been a main obstacle to its clinical application. This paper aims at improving the locomotion efficiency of the ILCR by optimizing its extensor design. To do this, the locomotion resistance of the ILCR in the colon is analyzed, and complying with a requirement that the traction force must be larger than the locomotion resistance to avoid slipping, a restriction on the extensor design is obtained. Then under the restriction and with reference to the Hyperelastic model which correlates stress and strain of colon tissue, a model for analyzing the influence of the design parameters of the extensor on the locomotion efficiency of the ILCR is built. With this model, the extensor has been optimized and the optimized results have been used to guide the development of a novel extensor, which employs two pairs of lead-screws and nuts and is actuated by one motor. Ex-vivo experiment has shown that the novel extensor can improve the locomotion efficiency of an ILCR prototype by 57%, without changing its total length.
