Design Bionic Structure and Analysis of Kinematics for Aircraft Fuel Tank Inspection Robot

Qing Ji Gao; Wei Juan Wang; Guo Chen Niu

doi:10.4028/www.scientific.net/AMM.278-280.594

Paper Titles

Research on Improved Cycloid Foot Trajectory of Quadruped Robot
p.576

Wireless Local Area Network Based Fire Monitoring Robot Design
p.582

2UPS-RPU Parallel Manipulator Kinematics Simulation Research Based on Simmechanics
p.586

A New Path Planning Method of Robot Based on Improved Adaptive Genetic Algorithms
p.590

Design Bionic Structure and Analysis of Kinematics for Aircraft Fuel Tank Inspection Robot
p.594

Improved Control Strategy for a Robotic Palletiser
p.599

Medical Robot in General Surgery: The State of the Art
p.607

Modeling and Constraints Analysis of Wheeled Mobile Robots
p.612

The Design of Lower Extremity Exoskeleton of Power Assist Robot
p.618

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 278-280Design Bionic Structure and Analysis of Kinematics...

Design Bionic Structure and Analysis of Kinematics for Aircraft Fuel Tank Inspection Robot

Abstract:

Aircraft fuel tank leakage is a very common maintenance problem. A snake-like robotic detector was designed for troubleshooting leaks of fuel tank which has strong constraint and is also explosive. The robot has several flexible sections based on bionics, and it can achieve actuation redundancy by independently pulling its four driven cables to carry out a bending motion of two-degrees of freedom. A solution framework was established among the cables length, angle and tip coordinate of single section by projection curvature and coordinates transformation. The decoupled kinematics equation between the multi-sections was deduced based on the analysis of single-section kinematics. Finally the correctness of the kinematics method was demonstrated by prototype testing.

You might also be interested in these eBooks

Biomimetic Approaches in Engineering Practice

View Preview

Advances in Mechatronics and Control Engineering

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 278-280)

Pages:

594-598

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.278-280.594

Citation:

Cite this paper

Online since:

January 2013

Authors:

Qing Ji Gao, Wei Juan Wang, Guo Chen Niu

Keywords:

Aircraft Fuel Tank, Bionic Structure, Kinematics, Leak Inspection

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

References

[1] G. Robinson J.B.C. Davies. Continuum Robots-A State of the Art. IEEE International Conference on Robotics and Automation, Detroit, Michigan. 1999: 2849~2854.

Google Scholar

[2] B.A. Jones I.D. Walker. Practical Kinematics for Real-Time Implementation of Continuum Robots. IEEE Transactions on Robotics. 2006, 22(6): 1087~1099.

DOI: 10.1109/tro.2006.886268

Google Scholar

[3] B.A. Jones I.D. Walker. Kinematics for Multi-section Continuum Robots. IEEE Transactions on Robotics. 2006, 22(1): 43~55.

Google Scholar

[4] N. Simaan. Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization. IEEE International Conference on Robotics and Automation. Barcelona, Spain. 2005: 3012~3017.

DOI: 10.1109/robot.2005.1570572

Google Scholar

[5] K. Xu, N. Simaan. Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multi-backbone Continuum Robots Via Elliptic Integrals[J]. IEEE Mechanisms and Robotics, 2010, 2: 1-13.

DOI: 10.1115/1.4000519

Google Scholar

[6] Haiyan Hu, Pengfei Wang et al. Kinematic Analysis and Simulation for Cable-driven Continuum Robot[J]. Journal of Mechanical Engineering, 2010, 19(46): 1-12. (In chinese).

DOI: 10.3901/jme.2010.19.001

Google Scholar