Research On Design And Control Of Hyper-redundant Serpentine Arm In Narrow Space

The level of industrial automation is getting higher and higher today,and the requirements for the operation and maintenance of equipment are also increasing.However,due to the complexity and compactness of industrial equipment,the space available for monitoring and maintenance operations is very narrow or blocked by obstacles.Traditional manual inspection operations are difficult and inefficient,and inspection automation cannot be realized.For the operation management and maintenance of equipment in narrow structures,based on the theory of continuous robots,a hyper-redundant monitoring serpentine arm that can approach or enter the interior of industrial equipment for monitoring and maintenance is studied.Firstly,the workspace environment and performance indicators are analyzed,and a wiredriven hyper-redundant monitoring serpentine arm is proposed.The structure and drive system of the serpentine arm are designed and optimized.The serpentine arm studied is composed of 7modular joints in series,and each joint is controlled by 3 driving lines in parallel.Combined with performance indicators,the force and driving force of the hyper-redundant serpentine arm were analyzed by geometric analysis method.Select the motor model and communication control method to complete the overall design of the motion mechanism and control box.The driving mechanism is a screw-slide mechanism,which has the advantages of simple structure,high movement accuracy,and self-locking function.The drive mechanisms in the drive box are arranged in a circle to ensure that the force of each drive line is similar,thereby improving the motion accuracy of the serpentine arm.Secondly,the kinematics of the hyper-redundant monitoring serpentine arm is analyzed,the kinematics model of the serpentine arm is constructed,and the decoupling kinematics equation between multiple joints is constructed to solve the change of the joint drive line length.The motion simulation of the serpentine arm joint motion is carried out by MATALB Robotics Toolbox and Simscape,which proves the usability of the proposed trajectory planning and the correctness of the motion decoupling equation.The serpentine arm workspace is simulated and analyzed by MATLAB.Based on the control requirements of the hyper-redundant serpentine arm,the implementation of the snake arm control is clarified.The control part of the snake arm is designed with a custom upper computer,core controller,drive system,attitude acquisition system and attitude control joystick.The joint motion error is analyzed in detail,the serpentine arm motion attitude acquisition system is designed,and the motion error compensation method is proposed.Finally,the principle prototype of the hyper-redundant serpentine arm is built.Then,carry out the space circle error test,record the error values before and after compensation,and verify the feasibility of the compensation algorithm.After that,the flexible movement of the principle prototype in three-dimensional space was carried out,which verified the flexible movement ability of the studied serpentine arm in a narrow and complex environment with obstacles.The thesis has 95 figures,8 tables and 61 references.