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Journal articles on the topic 'Snake-arm robots'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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1

Buckingham, Rob. "Snake arm robots." Industrial Robot: An International Journal 29, no. 3 (June 1, 2002): 242–45. http://dx.doi.org/10.1108/01439910210425531.

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Bringing a new robot to market is an exciting venture. When that robot is a new type of robot the venture takes on new proportions – it becomes an adventure. Dr Rob Buckingham, managing director of OCRobotics Ltd, describes the principles of a new snake arm robot that has applications in a number of industries including aerospace (engines and airframes), nuclear, space and surgery as well as a whole range of general inspection and maintenance tasks.

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2

Buckingham, Rob, and Andrew Graham. "Nuclear snake‐arm robots." Industrial Robot: An International Journal 39, no. 1 (January 6, 2012): 6–11. http://dx.doi.org/10.1108/01439911211192448.

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3

Zekhnine, Chérifa, and Nasr Eddine Berrached. "Human-Robots Interaction by Facial Expression Recognition." International Journal of Engineering Research in Africa 46 (January 2020): 76–87. http://dx.doi.org/10.4028/www.scientific.net/jera.46.76.

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This paper presents a facial expressions recognition system to command both mobile and arm robot. The proposed system mainly consists of two modules: facial expressions recognition and robots command. The first module aims to extract the ROI (Region Of Interest like: mouth, eyes, eyebrow) using Gradient Vector Flow (GVF) snake segmentation and the Euclidian distance calculation (compatible with the MPEG-4 description of the six universal emotions). To preserve the temporal aspect of the processing from FEEDTUM database (video file), Time Delay Neural Network (TDNN) is used as classifier of the universal facial expressions such as happiness, sadness, surprise, anger, fear, disgust and neutral. While the second module, analyzes recognized facial expressions and translates them into a language to communicate with robots by establishing command law.

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4

Palmer, David, Salvador Cobos-Guzman, and Dragos Axinte. "Real-time method for tip following navigation of continuum snake arm robots." Robotics and Autonomous Systems 62, no. 10 (October 2014): 1478–85. http://dx.doi.org/10.1016/j.robot.2014.05.013.

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5

Dumitru, Violeta. "Modular System for Testing the Performance of Poly-Articulate Robotic Structures." Applied Mechanics and Materials 493 (January 2014): 414–19. http://dx.doi.org/10.4028/www.scientific.net/amm.493.414.

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This paper presents a modular system for testing the performance of a poly-articulate robotic arm (snake like) with the push-pull actuation redundancy. Mechanical structure contains modules that allow testing of robots with different structures of the robotic arm (discrete hyper-redundant, continuous). Sensory system can be configured depending on the product and testing program adapting the sensors of position, velocity, time and vibrations. The monitoring system developed allows the automatic calibration of actuators and sensors, data and signal acquisition.

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6

Zhao, Wenchuan, Yu Zhang, and Ning Wang. "Soft Robotics: Research, Challenges, and Prospects." Journal of Robotics and Mechatronics 33, no. 1 (February 20, 2021): 45–68. http://dx.doi.org/10.20965/jrm.2021.p0045.

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The soft robot is a kind of continuum robot, which is mainly made of soft elastic material or malleable material. It can be continuously deformed in a limited space, and can obtain energy in large bending or high curvature distortion. It has obvious advantages such as high security of human-computer interaction, strong adaptability of unstructured environment, high driving efficiency, low maintenance cost, etc. It has wide application prospects in the fields of industrial production, defense military, medical rehabilitation, exploration, and so on. From the perspective of the bionic mechanism, this paper introduces the soft robots corresponding to insect crawling, snake crawling, fish swimming, elephant trunk, arm, etc. According to different driving modes, the soft robots can be classified into pneumatic-hydraulic driven, intelligent material driven, chemical reaction driven, and so on. The mechanical modeling, control strategy, material, and manufacturing methods of soft robot are summarized, and the application fields of soft robot are introduced. This paper analyzes the main challenges faced by the research on the key technologies of soft robots, summarizes and analyzes them, and puts forward the prospects for the future research of soft robots. The development trend of the future is to develop the soft robot with the characteristics of micro-scale, rigid-flexible coupling, variable stiffness, multi-functional, high integration, and intelligence of driving sensor control.

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7

Guo, J. Hung, Yung Chin Lin, Kuo Lan Su, and Bo Yi Li. "Motion Planning of Multiple Pattern Formation for Mobile Robots." Applied Mechanics and Materials 284-287 (January 2013): 1877–82. http://dx.doi.org/10.4028/www.scientific.net/amm.284-287.1877.

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The article designs the multiple pattern formation controls of the multi-robot system according to two arms’ gesture of the player, and uses flood fill searching algorithm and A* searching algorithm to program the motion paths. The inertia module detects two arms’ gesture of the player. We use the inertia module to be embedded in the two arms, and use mobile robots to present the movement scenario of pattern formation exchange on the grid based motion platform. We have been developed some pattern formations applying in the war game, such as rectangle pattern formation, long snake pattern formation, L pattern formation, sword pattern formation, cone pattern formation and so on. We develop the user interface for variety pattern formation exchange according to the minimum displacement on the supervised computer. The mobile robot receives the command from the supervised compute, and transmits the status of environment to the supervised computer via wireless RF interface. Players can use variety arms’ gesture to control the multiple mobile robots to executed pattern formation exchange. In the experimental results, the supervised computer can decides the arm gesture using fusion algorithms. Mobile robots can receive the pattern formation command from the supervised computer, and change the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots.

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8

HILTON, Paul, and Ali KHAN. "The Potential of Laser Cutting and Snake Arm Robots in Aspects of Nuclear Decommissioning." Review of Laser Engineering 41, no. 11 (2013): 911. http://dx.doi.org/10.2184/lsj.41.11_911.

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9

Dong, Xin, Mark Raffles, Salvador Cobos Guzman, Dragos Axinte, and James Kell. "Design and analysis of a family of snake arm robots connected by compliant joints." Mechanism and Machine Theory 77 (July 2014): 73–91. http://dx.doi.org/10.1016/j.mechmachtheory.2014.01.017.

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10

Pransky, Joanne. "The Pransky interview: Dr Rob Buckingham, Director at UK Atomic Energy Authority and Robotics Pioneer." Industrial Robot: An International Journal 43, no. 6 (October 17, 2016): 577–82. http://dx.doi.org/10.1108/ir-08-2016-0209.

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Purpose The following article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful business leader, regarding the commercialization and challenges of bringing technological inventions to market while overseeing a company. The paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Rob Buckingham, Director at UK Atomic Energy Authority (UKAEA) and Robotics Pioneer. Dr Buckingham is an innovator of snake-arm robotics for confined and hazardous environments. In this interview, Dr Buckingham shares some of his 30+ year personal and business experiences of working in industry, academia, co-founding and directing a robotics company and heading up a new UK government-funded organization for remote handling. Findings Dr Buckingham received his BSc and his MEng in the Special Engineering Programme at Brunel University in London. The program’s objective was to train engineers for the industry by developing problem-solving abilities and decision-making skills of students, which Buckingham accomplished while being sponsored by the UKAEA and as a National Engineering Scholar. After obtaining his PhD in robotics at the University of Bristol, Buckingham, he remained at Bristol for two years as a lecturer in mechanical engineering. In 1997, he co-founded OC Robotics, a private company that designs snake-arm robots specifically to operate in confined spaces. Buckingham directed OC until 2014, when he returned to where he began his early career, UKAEA Culham, this time as a Director and Head of the new Remote Applications in Challenging Environments (RACE) Centre. Under Buckingham’s leadership, RACE is involved in exploring many areas of remote operations, including inspection, maintenance and decommissioning and will be instrumental in developing new remote tools and techniques for academia and industry. Originality/value With the unique experience of studying at a university’s distinctive engineering program while working as a young engineer for the UKAEA who sponsored him, Dr Buckingham found his lifelong passion and career in robotics for remote handling. He was one of the creators of the emerging field of snake-arm robotics. He is now applying his innovative, commercial technologies and strategies from working in the nuclear, aerospace, construction and petrochemicals sectors to the industry of nuclear fusion. Dr Buckingham was awarded The Royal Academy of Engineering Silver Medal in 2009. In the same year, his company OC Robotics won the Queen’s Award for Enterprise in the category of Innovation. Buckingham is also a Fellow of the UK Institute of Engineering Technology, a Fellow of the Royal Academy of Engineering and a visiting professor at the Bristol Robotics Laboratory. He was co-chair of the Robotics and Autonomous Systems (RAS) Special Interest Group Steering Group during the preparation of the influential UK RAS strategy, which has since been adopted by UK Government.

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11

Xue, Fufeng, Yu Fan, and Zhimin Fan. "Design and Kinematics Analysis for a Cable-driven Underwater Snake Arm Robot." Journal of Physics: Conference Series 1654 (October 2020): 012028. http://dx.doi.org/10.1088/1742-6596/1654/1/012028.

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12

Jin, Lee, Lee, and Han. "Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure." Applied Sciences 9, no. 19 (October 1, 2019): 4114. http://dx.doi.org/10.3390/app9194114.

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This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation algorithms with solutions of inverse kinematics. The proposed methods were applied to a wire-driven surgical robot for single-port surgery. This robot has a snake-like robotic arm with double segments to fit the working space in a single port and a joint structure to secure stiffness. The accuracy of the model is highly important because small surgical robot arms are usually controlled by open-loop control. A curvature model is widely used to describe and control a continuum robotic body. However, the model is quite different from a continuum robotic arm with a joint structure and can lead to slack of the driving wires or decreased stiffness of the joints. An accurate forward kinematic model was derived to fit the actual hardware structure via the frame transformation method. An inverse kinematic model from the joint space to the wire-length space was determined from an asymmetric model for the joint structure as opposed to a symmetric curvature model. The path generation algorithm has to generate a command to send to each actuator in open-loop control. Two real-time path generation algorithms that solve for inverse kinematics from the task space to the joint space were designed and compared using simulations and experiments. One of the algorithms is an optimization method with sequential quadratic programming (SQP), and the other uses differential kinematics with a PID (Proportional-Integral-Derivative) control algorithm. The strengths and weaknesses of each algorithm are discussed.

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13

"Snake-arm robots move ahead." Industrial Robot: An International Journal 30, no. 5 (October 2003). http://dx.doi.org/10.1108/ir.2003.04930eab.007.

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14

"Nuclear and aerospace industries utilize snake-arm robots." Industrial Robot: An International Journal 33, no. 4 (July 2006). http://dx.doi.org/10.1108/ir.2006.04933dab.008.

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15

"Snake-arm robots steer aircraft assembly in a new direction." Industrial Robot: An International Journal 34, no. 2 (March 13, 2007). http://dx.doi.org/10.1108/ir.2007.04934bab.001.

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16

Tao, Jianfeng, Chengjin Qin, Zhilin Xiong, Xiang Gao, and Chengliang Liu. "Optimization and Control of Cable Tensions for Hyper-redundant Snake-arm Robots." International Journal of Control, Automation and Systems, September 2, 2021. http://dx.doi.org/10.1007/s12555-020-0440-7.

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17

Chen, Bingxing, Hongzhou Jiang, Jingxuan Liu, and Shuaibo Lu. "Joint Equivalence Design and Analysis of a Tensegrity Joint." Journal of Mechanisms and Robotics 13, no. 4 (May 31, 2021). http://dx.doi.org/10.1115/1.4051106.

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Abstract We propose a method to design a tensegrity joint, making its elastic deformation an accurate joint-like motion, such as a rotation around the designed rotational center. The tensegrity joint can be a revolute, universal, and ball joint through this method. Axis drift is presented as a design criterion to describe the rotational center’s deviation degree with respect to the compliance center since the rotational center is not fixed to one point for different positions of the tensegrity joint. The axis drift is designed to be in a prescribed range so that the tensegrity joint is approximately equivalent to a rigid joint. In other words, the tensegrity joint’s elastic response under external torque and force becomes precise rigid joint-like kinematics and can replace rigid joints to transfer motion, force, and energy. A large-size tensegrity rotational joint is developed to verify the joint equivalence experimentally. The experimental results show that the tensegrity joint achieved maximum dimensionless axis drift of less than 2%, which indicates an excellent joint equivalence. The tensegrity joints’ ability to replace rigid joints as modular joints to construct a hyper redundant serial structure is demonstrated using a tensegrity robotic arm. The proposed compliant tensegrity joint has notable benefits of tensegrity structure, such as high mechanical efficiency, modularity, and scalability. It can be extended to many robotic applications, such as large-size serial robotic arms and snake-like robots.

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18

Liu, Bei, Lairong Yin, Long Huang, Peng Zhang, and Kefu Yi. "Design and Analysis of a Tendon-driven Snake-arm Robot Based on Spherical Magnet." Transactions of the Canadian Society for Mechanical Engineering, July 15, 2021. http://dx.doi.org/10.1139/tcsme-2020-0084.

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The tendon-driven snake-arm robot can achieve multiple degrees of freedom (DOF) bending motion with a compact structure, which enables the robot to be widely applied in confined environments. However, if a conventional tendon-driven snake-arm robot is subject to a lateral force on the distal end, it will experience passive compliance. In this paper, a 2-DOF rolling joint is proposed based on the opposite-pole attraction of spherical magnets, which has a relatively simple structure than traditional joints. By serial connecting the 2-DOF rolling joints, a novel snake-arm robot is designed utilizing a tendon-driven approach. The kinematic model and workspace of the snake-arm robot are obtained, and the bending motion is validated. Based on the kinematic model, it is theoretically proved that the proposed robot can avoid passive compliance. In addition, this feature is verified through load experiments on the developed prototype.

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19

"OC Robotics delivers 1/2 in. diameter snake-arm robot." Industrial Robot: An International Journal 36, no. 3 (May 2009). http://dx.doi.org/10.1108/ir.2009.04936cab.002.

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20

"OC Robotics provides snake-arm robot demonstration for Sellafield Ltd." Industrial Robot: An International Journal 39, no. 1 (January 6, 2012). http://dx.doi.org/10.1108/ir.2012.04939aaa.005.

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21

"A Versitile Method to Design a Three Fingered Robotic Arm using Cad and Matlab Technique." International Journal of Recent Technology and Engineering 8, no. 4 (November 30, 2019): 308–10. http://dx.doi.org/10.35940/ijrte.d6818.118419.

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The main objective of the paper is to design a versatile Robotic Arm that has the capability to mimic the motion of a snake such that work space of the robotic arm is maximized. Design is made to achieve maximum mobility of the Robotic Arm such that it can pick up things and placed in very complex scenarios. The design is able to give degrees of freedom to the robot so that it becomes more versatile. It has a kinematic redundancy, like that of a human arm that enables us to place objects in various orientations. This Robotic arm is equipped with a three fingered gripper that provides for efficient grasping. The paper also provides design details of three fingered gripper that is suitable to hold cylindrical objects such as bolts, cable connectors etc. Autodesk Fusion 360 has been used to make cad model of arm and grippers. The 3D arm and gripper are assembled with revolute joints. The robot is tested for its mobility by performing Kinematic Analysis.

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