Matches in SemOpenAlex for { <https://semopenalex.org/work/W4313595596> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W4313595596 abstract "Abstract Continuum robots have high adaptability to narrow underwater environments, because of their unique redundant degree of freedom (DOF) and post drive integration design. However, they need multiple motors to control redundant DOF, which increases the manufacturing cost and control difficulty. This paper studies and proposes a continuum robot suitable for underwater operations. The robot adopts the drive mode of the diagonal coupling gear system to realize the control of two ropes by a single motor and reduce the number of motors from 12 to 6. On this basis, motion can be achieved by rope traction on different joint groups. The kinematic model of the planar circular arc method is established to reduce the complexity of the inverse kinematics of continuous joints and improve the solving speed. The motion posture and working space are obtained through the simulation analysis. Finally, the robot’s function and load test with an arm length of 609 mm are demonstrated, and the air tightness and water tightness tests are carried out at the same time, that verify the rationality of the structure and control of the continuum robot for the underwater operation." @default.
- W4313595596 created "2023-01-06" @default.
- W4313595596 creator A5009506831 @default.
- W4313595596 creator A5018765347 @default.
- W4313595596 creator A5024073247 @default.
- W4313595596 creator A5046133834 @default.
- W4313595596 creator A5065569605 @default.
- W4313595596 creator A5070895035 @default.
- W4313595596 creator A5071549567 @default.
- W4313595596 creator A5080264682 @default.
- W4313595596 date "2023-01-06" @default.
- W4313595596 modified "2023-10-17" @default.
- W4313595596 title "Novel Underwater Continuum Robot: Structural Design, Theoretical Modeling and Experiments" @default.
- W4313595596 cites W1595895163 @default.
- W4313595596 cites W1990886819 @default.
- W4313595596 cites W2064043586 @default.
- W4313595596 cites W2064267416 @default.
- W4313595596 cites W2101667962 @default.
- W4313595596 cites W2413886764 @default.
- W4313595596 cites W2527057332 @default.
- W4313595596 cites W2807729139 @default.
- W4313595596 cites W2896056663 @default.
- W4313595596 cites W2939033485 @default.
- W4313595596 cites W3003845873 @default.
- W4313595596 cites W3005507178 @default.
- W4313595596 cites W3010828201 @default.
- W4313595596 cites W3080406417 @default.
- W4313595596 cites W4243375158 @default.
- W4313595596 doi "https://doi.org/10.21203/rs.3.rs-2160653/v1" @default.
- W4313595596 hasPublicationYear "2023" @default.
- W4313595596 type Work @default.
- W4313595596 citedByCount "0" @default.
- W4313595596 crossrefType "posted-content" @default.
- W4313595596 hasAuthorship W4313595596A5009506831 @default.
- W4313595596 hasAuthorship W4313595596A5018765347 @default.
- W4313595596 hasAuthorship W4313595596A5024073247 @default.
- W4313595596 hasAuthorship W4313595596A5046133834 @default.
- W4313595596 hasAuthorship W4313595596A5065569605 @default.
- W4313595596 hasAuthorship W4313595596A5070895035 @default.
- W4313595596 hasAuthorship W4313595596A5071549567 @default.
- W4313595596 hasAuthorship W4313595596A5080264682 @default.
- W4313595596 hasBestOaLocation W43135955961 @default.
- W4313595596 hasConcept C111368507 @default.
- W4313595596 hasConcept C121332964 @default.
- W4313595596 hasConcept C127313418 @default.
- W4313595596 hasConcept C127413603 @default.
- W4313595596 hasConcept C130367717 @default.
- W4313595596 hasConcept C133731056 @default.
- W4313595596 hasConcept C145565327 @default.
- W4313595596 hasConcept C154945302 @default.
- W4313595596 hasConcept C162269090 @default.
- W4313595596 hasConcept C17816587 @default.
- W4313595596 hasConcept C2524010 @default.
- W4313595596 hasConcept C2775924081 @default.
- W4313595596 hasConcept C33923547 @default.
- W4313595596 hasConcept C39920418 @default.
- W4313595596 hasConcept C41008148 @default.
- W4313595596 hasConcept C44154836 @default.
- W4313595596 hasConcept C47446073 @default.
- W4313595596 hasConcept C74650414 @default.
- W4313595596 hasConcept C78519656 @default.
- W4313595596 hasConcept C90509273 @default.
- W4313595596 hasConcept C98083399 @default.
- W4313595596 hasConceptScore W4313595596C111368507 @default.
- W4313595596 hasConceptScore W4313595596C121332964 @default.
- W4313595596 hasConceptScore W4313595596C127313418 @default.
- W4313595596 hasConceptScore W4313595596C127413603 @default.
- W4313595596 hasConceptScore W4313595596C130367717 @default.
- W4313595596 hasConceptScore W4313595596C133731056 @default.
- W4313595596 hasConceptScore W4313595596C145565327 @default.
- W4313595596 hasConceptScore W4313595596C154945302 @default.
- W4313595596 hasConceptScore W4313595596C162269090 @default.
- W4313595596 hasConceptScore W4313595596C17816587 @default.
- W4313595596 hasConceptScore W4313595596C2524010 @default.
- W4313595596 hasConceptScore W4313595596C2775924081 @default.
- W4313595596 hasConceptScore W4313595596C33923547 @default.
- W4313595596 hasConceptScore W4313595596C39920418 @default.
- W4313595596 hasConceptScore W4313595596C41008148 @default.
- W4313595596 hasConceptScore W4313595596C44154836 @default.
- W4313595596 hasConceptScore W4313595596C47446073 @default.
- W4313595596 hasConceptScore W4313595596C74650414 @default.
- W4313595596 hasConceptScore W4313595596C78519656 @default.
- W4313595596 hasConceptScore W4313595596C90509273 @default.
- W4313595596 hasConceptScore W4313595596C98083399 @default.
- W4313595596 hasLocation W43135955961 @default.
- W4313595596 hasOpenAccess W4313595596 @default.
- W4313595596 hasPrimaryLocation W43135955961 @default.
- W4313595596 hasRelatedWork W2095786361 @default.
- W4313595596 hasRelatedWork W2107881591 @default.
- W4313595596 hasRelatedWork W2111449477 @default.
- W4313595596 hasRelatedWork W2111453009 @default.
- W4313595596 hasRelatedWork W2172188558 @default.
- W4313595596 hasRelatedWork W2563925968 @default.
- W4313595596 hasRelatedWork W4200633814 @default.
- W4313595596 hasRelatedWork W4231681387 @default.
- W4313595596 hasRelatedWork W4256135318 @default.
- W4313595596 hasRelatedWork W845804895 @default.
- W4313595596 isParatext "false" @default.
- W4313595596 isRetracted "false" @default.
- W4313595596 workType "article" @default.