IEEE Robotics & Automation Magazine - September 2023 - 98

from a borescope inspection performed
by a skilled operator on an aeroengine.
An optical motion sensor (400 DPI and
63-µm pixel size) has been installed on
the borescope port of the aeroengine to
record the insertion and twist motions,
corresponding to the sensor's y- and
x-axis acquisitions, respectively. At the
same time, the driving force and torque
have been measured with a pressure-sensitive
pad on the endoscope grip.
The results of these acquisitions [three
"
THE PASSIVE SEGMENT
COULD BE AS LONG AS
REQUIRED, ALTHOUGH
FRICTION LOSSES LIMIT
ITS LENGTH IN PRACTICE.
„
examples are reported in Figure 4(f) and (g)] show that a
rotational range of 20° is sufficient to achieve a complete
navigation process, whereas a safe grip on the borescope is
ensured with a force of 60 N. The insertion distance in the
plots has been acquired for completeness, but it significantly
varies with operation and tool length. As such, this example
twist-and-feed mechanism was designed according to three
main requirements: a rotational motion of more than 20°; an
endless translation distance, provided by rubber wheels that
grab the outer surface of the continuum
robot; and a grasping force of more than
60 N, obtained through a calibrated interference
fit between the rubber wheels and
the robot.
The resulting design, illustrated in
Fig ure 4(a), is made of four main parts: a
locking section, which is fixed through
a threaded connector onto the target environment
and contains optical motion and
presence sensors [Figure 4(b)]; a rotary
stage that provides the twisting motion
[Figure 4(c)]; a linear stage with rubber wheels that drag the
continuum robot [Figure 4(d)]; and a case with the motors
[Figure 4(e)]. Given the location of the motors on the back of
the twist-and-feed mechanism, the driving motion is transmitted
through a gearbox at the rotary stage [Figure 4(c)] and
a belt-and-worm gear system for the linear stage [Figure 4(d)].
A hollow metal tube ensures smooth low-friction motion for
the robot's body throughout the twist-and-feed mechanism
[Figure 4(e)].
Load Cell
C
(b)
B
Idle Pulley
Passive Segment
Motor
(a)
Idle Pulley
Tendon End
Load Cell
Actuated Pulley
Tendon
Actuated Pulley
(c)
(d)
FIGURE 3. The actuation pack design. (a) The system overview, with pulleys for routing (passive) and driving (actuated) tendons, a rotary
motor for each tendon, and load cells to measure tendon tension. (b) A detail of the tendon routing layout at the interface to the passive
segment of the continuum robot. (c) A close-up view of the actuation unit for a single cable. (d) The tendon routing layout through the
pulleys up to the motors.
98 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
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