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Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
Crustal movement is a key factor affecting water cycle and related land surface processes. In this paper, the principle of a class of crustal movement simulation system (CMSS) is introduced. The CMSS proposed in this study is composed of twelve sets of four-legged parallel manipulator with three degrees of freedom. The structure of the parallel manipulator with actuation redundancy is analyzed. In...
This paper describes the problem that a manipulator grasps the planar workpiece with a negative pressure suction cup. The grasping point must be determined to meet the command of planar grasping criterion to lay the foundation of the workpiece placement. The first contribution of this paper is the segmentation of the workpiece under industry condition with illumination and occlusion in the background...
In this paper, a backstepping controller is presented for the tracking control of work platform of folding-boom aerial platform vehicle. The control objective is to suppress the vibration and drive the work platform to follow a desired reference trajectory. According to the Lyapunov stability theorem, the derived control law guarantees that the trajectory tracking system is exponentially asymptotically...
This paper presents the framework, modeling, controller design, simulation and experiment results of a bi-brachiate inspection robot, which is designed to inspect the high voltage power transmission lines. A bionic structure is adopted for the mechanical design of the inspection robot. It has two multi-joint arms with a claw and a wheel on the top of each arm. A counterweight box is designed to adjust...
This paper presents a bi-brachiate robot for the inspection tasks of the high voltage power transmission line (HVPTL). The robot adopts a turning around method to get across the component (obstacles for the robot) installed on the HVPTL, and the process of the obstacle negotiation is expressed in detail. A simplified two-link model of the robot during obstacle negotiating stage is given. The adaptive...
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