A hyper-redundant manipulator gluing system under multiple constraints
There are many narrow gluing operation scenarios, such as engine components, turbine blades, and combustion chambers in the aerospace engineering. Traditional six-axis manipulator cannot enter such narrow spaces due to size constraints. Therefore, the gluing operations in these scenes need to be com...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2025-05-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132251339863 |
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| author | Dongjie Zhao Aoshun Zhang YanBin Yao Mingrui Luo En Li Jing-Shan Zhao |
| author_facet | Dongjie Zhao Aoshun Zhang YanBin Yao Mingrui Luo En Li Jing-Shan Zhao |
| author_sort | Dongjie Zhao |
| collection | DOAJ |
| description | There are many narrow gluing operation scenarios, such as engine components, turbine blades, and combustion chambers in the aerospace engineering. Traditional six-axis manipulator cannot enter such narrow spaces due to size constraints. Therefore, the gluing operations in these scenes need to be completed manually, which is inefficient, dangerous, and sometimes impossible. This paper designs a hyper-redundant snake-shaped manipulator gluing system (HRMGS) to realize an automated gluing operation in the narrow working space. A series of verification experiments were carried out according to the design requirements. The dynamic response capacity and joint steady-state accuracy of the designed HRM are verified by dynamic response experiments. The dynamic response capacity of a single joint can reach 12.5°/s, the steady-state accuracy is less than ±0.08°, the comprehensive dynamic response capacity of multiple joints can reach 5°/s, and the steady-state accuracy is less than ±0.12°. The positioning accuracy of the HRM is validated by the positioning accuracy experiment, and the final comprehensive positioning accuracy of the HRM can reach 1.91 mm. The high redundancy and slender shape of the manipulator ensure that the manipulator can flexibly avoid obstacles in narrow environments to carry out gluing operation. |
| format | Article |
| id | doaj-art-9d3975b5ce894b13bd880e8e772229c2 |
| institution | DOAJ |
| issn | 1687-8140 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj-art-9d3975b5ce894b13bd880e8e772229c22025-08-20T02:58:50ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402025-05-011710.1177/16878132251339863A hyper-redundant manipulator gluing system under multiple constraintsDongjie Zhao0Aoshun Zhang1YanBin Yao2Mingrui Luo3En Li4Jing-Shan Zhao5The AVIC Manufacturing Technology Institute, Beijing, ChinaThe School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, ChinaThe AVIC Manufacturing Technology Institute, Beijing, ChinaThe School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, ChinaThe School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, ChinaThe State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, ChinaThere are many narrow gluing operation scenarios, such as engine components, turbine blades, and combustion chambers in the aerospace engineering. Traditional six-axis manipulator cannot enter such narrow spaces due to size constraints. Therefore, the gluing operations in these scenes need to be completed manually, which is inefficient, dangerous, and sometimes impossible. This paper designs a hyper-redundant snake-shaped manipulator gluing system (HRMGS) to realize an automated gluing operation in the narrow working space. A series of verification experiments were carried out according to the design requirements. The dynamic response capacity and joint steady-state accuracy of the designed HRM are verified by dynamic response experiments. The dynamic response capacity of a single joint can reach 12.5°/s, the steady-state accuracy is less than ±0.08°, the comprehensive dynamic response capacity of multiple joints can reach 5°/s, and the steady-state accuracy is less than ±0.12°. The positioning accuracy of the HRM is validated by the positioning accuracy experiment, and the final comprehensive positioning accuracy of the HRM can reach 1.91 mm. The high redundancy and slender shape of the manipulator ensure that the manipulator can flexibly avoid obstacles in narrow environments to carry out gluing operation.https://doi.org/10.1177/16878132251339863 |
| spellingShingle | Dongjie Zhao Aoshun Zhang YanBin Yao Mingrui Luo En Li Jing-Shan Zhao A hyper-redundant manipulator gluing system under multiple constraints Advances in Mechanical Engineering |
| title | A hyper-redundant manipulator gluing system under multiple constraints |
| title_full | A hyper-redundant manipulator gluing system under multiple constraints |
| title_fullStr | A hyper-redundant manipulator gluing system under multiple constraints |
| title_full_unstemmed | A hyper-redundant manipulator gluing system under multiple constraints |
| title_short | A hyper-redundant manipulator gluing system under multiple constraints |
| title_sort | hyper redundant manipulator gluing system under multiple constraints |
| url | https://doi.org/10.1177/16878132251339863 |
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