机器人
燃油箱
飞机燃油系统
汽车工程
计算机科学
航空学
工程类
海洋工程
航空航天工程
人工智能
蒸汽锁
燃烧
燃烧室
有机化学
化学
作者
Guochen Niu,Zunchao Zheng,Qingfei Gao,Weijuan Wang,Lei Wang
出处
期刊:Telkomnika: Indonesian Journal of Electrical Engineering
[Institute of Advanced Engineering and Science]
日期:2013-07-01
卷期号:11 (7)
被引量:4
标识
DOI:10.11591/telkomnika.v11i7.2814
摘要
Aircraft fuel tank leakage is a very common maintenance problem. A continuum robot is designed for troubleshooting of leaks for fuel tank which has strong constraints and is also explosive. The biomimetic robot with several flexible sections applies actuation redundancy through pulling its four independent driving cables to realize bending motion of two degrees of freedom (DOF). The forward kinematics about the relations of cables lengths, angles and tip coordinates of single section is established using projection curvature method and coordinates transformation method. The decoupled multi-section kinematics function is deduced based on the kinematics analysis of single section. Simulations of single section motion are presented. We demonstrate finally the correctness of kinematics method through prototype experiments. DOI: http://dx.doi.org/10.11591/telkomnika.v11i7.2814 Full Text: PDF
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