计算机科学
钥匙(锁)
灵活性(工程)
控制工程
导线
路径(计算)
工程类
数学
大地测量学
计算机安全
统计
程序设计语言
地理
作者
Mu Zhang,Luyang Zhang,Lei Yan,Zixuan Li,Ruichun Dong,Chengjiang Wang,Ning Ding
出处
期刊:IEEE Transactions on Aerospace and Electronic Systems
[Institute of Electrical and Electronics Engineers]
日期:2022-12-01
卷期号:58 (6): 4928-4937
被引量:2
标识
DOI:10.1109/taes.2022.3217746
摘要
In this article, we review the state of the art in hyper-redundant manipulators for applications in confined space such as on -orbit services. With their multiple degrees of freedom and slender links, hyper-redundant manipulators can offer superior dexterity and excellent operability. They can traverse freely, manipulate objects flexibly, and conform to curvilinear paths accurately in confined spaces. The by-design separation of the mechanical and electrical parts in these manipulators also offers inherent structural compliance and miniaturization. Due to the elastic characteristics of driving cables, hyper-redundant manipulators have both stiffness and flexibility. In this article, the overviews of the current state of the art in this field are provided from the perspectives of both typical applications and key technologies. We detailed the relevant studies on the configuration, obstacle avoidance, path planning, and control technologies for hyper-redundant manipulators and highlight the use of these studies in the development of practical applications. Furthermore, we propose several aspects that need to be further studied, namely efficient inverse kinematics solution, strong coupled dynamics modeling, variable stiffness control, and multiobjective trajectory optimization. Breakthroughs in these areas will provide valuable solutions for complex path planning and control of hyper-redundant manipulators. 1
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