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Design of a novel long-range inflatable robotic arm: Manufacturing and numerical evaluation of the joints and actuation

Article dans une revue avec comité de lecture
Author
VOISEMBERT, Sébastien
RIWAN, Alain
ccMECHBAL, Nazih
86289 Laboratoire Procédés et Ingénierie en Mécanique et Matériaux [PIMM]
ccAOUSSAT, Améziane
127758 Laboratoire Conception de Produits et Innovation [LCPI]

URI
http://hdl.handle.net/10985/8524
DOI
10.1115/1.4025025
Date
2013
Journal
Journal of Mechanisms and Robotics

Abstract

The aim of this paper is to present the design of a new long-range robotic arm based on an inflatable structure. Inflatable robotics has potential for improved large payload-to-weight ratios, safe collision, and inspection in areas inaccessible to human beings as in nuclear plants. The robot presented here is intended to operate inspection or maintenance missions in critical installation taking care to not collide with its environment. It is made with innovative inflatable joints and an original actuation system. Prototypes of this inflatable manipulator were constructed using two different manufacturing procedures. Using LS-DYNA nonlinear dynamic finite element modeling we have numerically analyzed the specific geometry and dynamical behavior of the resulting joints. The simulations have given insight into understanding the joint bending process and have revealed guidance for optimizing the conception.

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