Design And Research Of Cable-Driven Hyper-Redundant Manipulator

With the rapid development of nuclear power,regular inspection,monitoring and maintenance of nuclear facilities have become important means to ensure efficient,safe and sustainable development of the nuclear industry.However,the complex environments within nuclear facilities,such as non-structured spaces,narrow areas,etc.,make manual operations difficult,low-efficient,and high-risk.Therefore,a mechanical arm is needed to replace human labor to complete tasks.The wire-driven hyper-redundant robotic arm has advantages such as high safety and strong flexibility,which can replace human labor in these complex environments,with extensive application prospects.Based on the biomimetic concept,this article develops a wire-driven hyper-redundant robotic arm and carries out detailed research on its mechanical structure design,kinematics and dynamics modeling,as well as prototype experiments.1.A wire-driven hyper-redundant robotic arm’s structural design is presented in this study.In response to the demands and specifications of operating in narrow environments,a five-joint elephant trunk-like wire-driven hyper-redundant robotic arm was designed.The joints are connected by two degrees of freedom hollow universal joints,with advantages such as compact structure and strong adaptability.Additionally,the driving motor and screw drive module are integrated into a modular drive mechanism at the rear,further reducing the arm’s motion load and improving transmission efficiency.ANSYS was used for static analysis of the robotic arm to ensure that critical components meet usage requirements.2.This study presents the kinematic and dynamic modeling of a wire-driven hyper-redundant robotic arm.For kinematic modeling,the mapping relationship between joint space and operational space was established using the classic D-H method and spine modal method.To address the issue of joint angles being too large in the spine modal method,a local pose adjustment scheme was proposed to improve joint fitting.For the coupling phenomenon between joints of a serial-parallel robotic arm,a kinematic decoupling model was derived using geometric mapping method to obtain the mapping relationship between driving space and joint space.MATLAB was used for simulation experiments of typical motions to verify the effectiveness of the kinematic model.For dynamic modeling,based on analyzing the force situation and dynamic parameters of the robotic arm joints,a Lagrangian-based dynamic model was established and verified through joint simulation experiments using SIMULINK and ADAMS.3.A test prototype of the wire-driven hyper-redundant robotic arm was manufactured and tested in this study.Based on the design of the robotic arm system,the experimental prototype was fabricated,and the control system was established for experimentation.The experimental results showed that the developed robotic arm has excellent spatial motion performance,and the kinematic model can effectively complete the motion control of the robotic arm,meeting the design requirements.