Abstract
The aim of this paper is to propose a novel 6 degree of freedom (DOF) cable-driven robot arm for the visual tracking and the inspection inside the vacuum vessel of Tokamak. First and foremost, a robot arm capable of visual tracking is required, especially in the process of welding seam tracking and inspecting in the vacuum vessel. Given the structure of the vacuum vessel and the weaknesses of the traditional manipulator, we propose a novel 6 DOF robot arm driven by cables. Secondly, to address the two problems in the cable-driven technique, i.e. unilateral driving capabilities of the cables and automatic tensioning technology, the automatic tensioning device using the spiral spring and one-way bearing is designed. Besides, the kinematics model of the 6 DOF cable-driven robot arm is built. In accordance with the kinematic model, the workspace and the influence factors of the workspace are studied. Finally, a prototype with a hand-with-eye system is built for experiments on executing trajectories and tracking visual targets, and the result effectively verifies the applicability and accuracy (1.3mm) of the cable-driven robot arm.
Published Version
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