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Collaborative Continuum Robots for Remote Engineering Operations.

Nan Ma1, Stephen Monk1, David Cheneler1

  • 1School of Engineering, Lancaster University, Lancaster LA1 4YW, UK.

Biomimetics (Basel, Switzerland)
|January 17, 2023
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Summary
This summary is machine-generated.

This study introduces a dual-arm continuum robot system for in situ industrial equipment repair. The system enables collaborative robotic operations, achieving an average toolpath error of 2.5 mm for critical maintenance tasks.

Keywords:
collaborative operationcontinuum robotdual-arm robotin situ operation

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Industrial Automation

Background:

  • In situ repair and maintenance of industrial equipment are vital for operational continuity.
  • Single-arm continuum robots are effective for repair, but certain scenarios necessitate multi-arm collaboration.
  • Existing solutions often lack the dexterity and collaborative capabilities required for complex industrial maintenance.

Purpose of the Study:

  • To design and present a dual-arm continuum robot system for in situ industrial repair and maintenance.
  • To detail the design principles, inverse kinematics, and collaborative operation strategy for the robotic system.
  • To evaluate the system's capability in performing in situ machining operations through experimental validation.

Main Methods:

  • Design of a novel dual-arm continuum robot system.
  • Optimization-based inverse kinematic calculations for 6-Degrees-of-Freedom (6-DoF) continuum arms.
  • Development and implementation of a collaborative operation strategy and control algorithms.
  • Experimental evaluation of the system's performance in in situ machining tasks.

Main Results:

  • Successful design and prototyping of a dual-arm continuum robot system.
  • Demonstration of an optimization-based inverse kinematic solution for precise 6-DoF control.
  • Validation of the collaborative operation strategy through experimental machining tasks.
  • Achieved an average error of 2.5 mm between planned and actual toolpaths.

Conclusions:

  • The developed dual-arm continuum robot system is capable of performing critical in situ industrial machining operations.
  • The collaborative control strategy enables effective multi-arm operation for complex maintenance tasks.
  • The system shows significant potential for enhancing the efficiency and safety of industrial equipment repair and maintenance.