2023

Qin Guodong; Wang Qi; Li Changyang; Ji Aihong; Wu Huapeng; Yang Zhikang; Wen Shikun

PurposeIn large equipment and highly complex confined workspaces, the maintenance is usually carried out by snake-arm robots with equal cross-sections. However, the equal cross-sectional design results in the snake arm suffering from stress concentration and restricted working space. The purpose of this paper is to design a variable cross-section elephant trunk robot (ETR) that can address these shortcomings through bionic principles.Design/methodology/approachThis paper proposes a cable-driven ETR to explore the advantages and inspiration of variable cross-section features for hyper-redundant robot design. For the kinematic characteristics, the influence of the variable cross-section design on the maximum joint angle of the ETR is analysed using the control variables method and the structural parameters are selected. Based on the biological inspiration of the whole elephant trunk following the movement of the trunk tip, a trajectory-tracking algorithm is designed to solve the inverse kinematics of the ETR.FindingsSimulation and test results show the unique advantages of the proposed variable cross-section ETR in kinematics and forces, which can reduce stress concentrations and increase the flexibility of movement.Originality/valueThis paper presents a design method for a variable cross-section ETR for confined working spaces, analyses the kinematic characteristics and develops a targeted trajectory control algorithm.