Design and Implementation of Free-Eye of Flexible Underactuated Rope-Driven Manipulator for Line-Tracking Vehicle

With the rapid development of subway construction, different forms and different degrees of tunnel and underground engineering disasters occur every year, such as collapse, water inrush, rock burst and gas leakage, contact line failure, etc. Therefore, the robot arm Free-eye that can carry a camera for flexible observation can be realized through a smaller weight and simple mechanical structure, which is of great significance for the realization of the patrol intelligent vehicle and the replacement of the patrol intelligent vehicle for the detection of the contact net, the rail bed and the tunnel lining of the subway tunnel. In this paper, a flexible underactuated rope-driven manipulator free eye is proposed, which consists of multiple manipulator nodes, a flexible shaft, and a camera, and is controlled by four wire ropes and four stepper motors. The main work of this paper is as follows: 1) Design a flexible underactuated rope-driven manipulator free eye. 2) Use Solidworks to complete the 3D modeling and physical construction of the manipulator. 3) The kinematic space mapping method is used to model the motion and control of the manipulator. 4) The driving test, control test and photo test were carried out respectively. The position of the flexible underactuated rope driven manipulator can be controlled with an error of less than 10 degrees when the bending Angle is less than 100 degrees, and the accurate photo can be completed.