无线远程驱动机器人突破环境限制，可水陆两用
REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation
- 采用远程线缆传动机制，电机集中于基座实现远距离控制
- 实验证明可在水陆环境完成移动、姿态调整和物体抓取
- 适合高防护需求场景，如深海或危险区域作业
电子设备限制了机器人的应用环境。为克服这一问题，研究探索了将电子元件移出工作环境但保留先进电子控制与驱动的方法。已有方案包括无电子元件的远程液压驱动移动机器人（高可达性）以及电机集中于基座的长距离线缆驱动机械臂（高环境耐受性）。为此，本文提出新型“远程线缆驱动”系统，并设计开发了“REWW-ARM”原型机，包含三项核心组件：1）关键传动技术“远程线缆传动机制”（RWTM）；2）由其驱动的无电子元件末端移动体；3）基于RWTM状态估计实现闭环控制的电机单元。通过多项实验，验证了REWW-ARM在陆地与水下环境下的运动能力、姿态控制及物体操作性能，表明该系统具备广泛适配多种机器人类型、拓展作业范围的潜力。
原文摘要 · Abstract (English)
Electronic devices are essential for robots but limit their usable environments. To overcome this, methods excluding electronics from the operating environment while retaining advanced electronic control and actuation have been explored. These include the remote hydraulic drive of electronics-free mobile robots, which offer high reachability, and long wire-driven robot arms with motors consolidated at the base, which offer high environmental resistance. To combine the advantages of both, this study proposes a new system, "Remote Wire Drive." As a proof-of-concept, we designed and developed the Remote Wire-Driven robot "REWW-ARM", which consists of the following components: 1) a novel power transmission mechanism, the "Remote Wire Transmission Mechanism" (RWTM), the key technology of the Remote Wire Drive; 2) an electronics-free distal mobile robot driven by it; and 3) a motor-unit that generates power and provides electronic closed-loop control based on state estimation via the RWTM. In this study, we evaluated the mechanical and control performance of REWW-ARM through several experiments, demonstrating its capability for locomotion, posture control, and object manipulation both on land and underwater. This suggests the potential for applying the Remote Wire-Driven system to various types of robots, thereby expanding their operational range.
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