用机器人控制固定底端的旋转链条，实现稳定模式切换。
Robotic Manipulation of a Rotating Chain with Bottom End Fixed
- 发现链条配置空间等价于三维立方体，指导可控路径规划。
- 实验验证从静止到前两种旋转模式的成功转换。
- 适用于钻井绳和纺纱工艺的安全高效操控，具工程应用价值。
本文研究如何用机械臂操控底端固定的匀速旋转链条。现有研究虽探讨了理想旋转形态在实际中的应用，但未解决如何通过操控规划稳定实现这些形态。本文提出一种兼顾稳定性和可行性的操控策略，发现该链条的配置空间同胚于三维立方体，据此设计从一种旋转模式切换至另一模式的路径。物理实验成功实现了从静止状态过渡到前两个旋转模式。研究成果对保障钻井绳与纱线纺纱作业的安全性与效率具有重要意义。
原文摘要 · Abstract (English)
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these shapes can be consistently achieved through manipulation planning. Our work presents a manipulation strategy for stable and consistent shape transitions. We find that the configuration space of such a chain is homeomorphic to a three-dimensional cube. Using this property, we suggest a strategy to manipulate the chain into different configurations, specifically from one rotation mode to another, while taking stability and feasibility into consideration. We demonstrate the effectiveness of our strategy in physical experiments by successfully transitioning from rest to the first two rotation modes. The concepts explored in our work have critical applications in ensuring safety and efficiency of drill string and yarn spinning operations.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。