Design and Motion Capability Analysis of a Snack Arm Robot Based on the Two-Stage Series 3-RRS Mechanism
An underactuated snake arm robot(SAR)with axial degree of freedom is designed for working environments with strong electromagnetic fields,radiation and narrow deep cavities.Based on the 3-RRS parallel mechanism,a two-stage series 3-RRS mechanism design scheme using a crank slider mechanism for power transmission is proposed.Multiple sets of two-stage 3-RRS mechanisms are connected in series through ropes,guided by sleeves and pulleys,forming a linkage unit.The linkage unit is driven by three motors and can achieve bending and axial expansion in two directions,with three degrees of freedom of motion.By connecting multi-level linkage units in series,a 3-RRS SAR with higher flexibility and better adaptability is obtained.The forward kinematic relation and Jacobian matrix of the two-stage series 3-RRS mechanism is derived,and a kinematic recursive model of the 3-RRS SAR is established.The motion mode of a two-stage series 3-RRS mechanism is studied by kinematic simulation.Using the Monte Carlo method,the workspace of a 3-RRS SAR is calculated,and the influence of the number of the series stages on the workspace and motion ability are systematically analyzed.
snake arm robotrecursive kinematics3-RRS parallel mechanismaxial expansionworkspace analysis
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