The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside s...The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.展开更多
Considering the spatial position and shape detection properties of the fiber Bragg grating(FBG)curve sensor used in the human body,the positioning accuracy of the FBG curve sensor plays a major role in the pre-diagnos...Considering the spatial position and shape detection properties of the fiber Bragg grating(FBG)curve sensor used in the human body,the positioning accuracy of the FBG curve sensor plays a major role in the pre-diagnosis and treatment of diseases.We present a new type of shape-sensing catheter(diameter of 2.0 mm and length of 810 mm)that is integrated with an array of four optical fibers,where each contains five nodes,to track the shape.Firstly,the distribution of the four orthogonal fiber gratings is wound around a nitinol wire using novel packaging technology,and the spatial curve shape is rebuilt based on the positioning of discrete points in space.An experimental platform is built,and then a reconstruction algorithm for coordinate point fitting of the Frenet frame is used to perform the reconstruction experiment on millimeter paper.The results show that,compared with those in previous studies,in 2D test,the maximum relative error for the end position is reduced to 2.74%,and in 3D reconstruction experiment,the maximum shape error is 3.43%,which verifies both the applicability of the sensor and the feasibility of the proposed method.The results reported here will provide an academic foundation and the key technologies required for navigation and positioning of noninvasive and minimally invasive surgical robots,intelligent structural health detection,and search and rescue operations in debris.展开更多
基金Supported by National High TechR&DProgramin China!( 86 3 5 1 2 970 4 2 6 86 3 5 1 2 980 4 1 8)
文摘The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.
基金This work was jointly supported by the National Nature Science Foundation of China(Grant No.51275282)Major Basic Projects of the Shanghai Science and Technology Commission(Grant No.18JC1410402).
文摘Considering the spatial position and shape detection properties of the fiber Bragg grating(FBG)curve sensor used in the human body,the positioning accuracy of the FBG curve sensor plays a major role in the pre-diagnosis and treatment of diseases.We present a new type of shape-sensing catheter(diameter of 2.0 mm and length of 810 mm)that is integrated with an array of four optical fibers,where each contains five nodes,to track the shape.Firstly,the distribution of the four orthogonal fiber gratings is wound around a nitinol wire using novel packaging technology,and the spatial curve shape is rebuilt based on the positioning of discrete points in space.An experimental platform is built,and then a reconstruction algorithm for coordinate point fitting of the Frenet frame is used to perform the reconstruction experiment on millimeter paper.The results show that,compared with those in previous studies,in 2D test,the maximum relative error for the end position is reduced to 2.74%,and in 3D reconstruction experiment,the maximum shape error is 3.43%,which verifies both the applicability of the sensor and the feasibility of the proposed method.The results reported here will provide an academic foundation and the key technologies required for navigation and positioning of noninvasive and minimally invasive surgical robots,intelligent structural health detection,and search and rescue operations in debris.
