抄録
This research aims to develop a mobile system with long-thinned cord-like structure for searching and inspection tasks in confined deep space. The system is designed to provide certain mobility capability, localization ability, and flexibility in system composition to adapt to the searching environments. A simple new Active Joint Mechanism is introduced to meet long-thinned cord-like requirements, with its complete kinematic analysis provided. Active- and passive-segmentalization and hybrid train structure for the system are proposed to enable the adjustment of mobility capability, internal sensor based localization ability, and variable-length composition of the system. A realization on a prototype system with a multimodal searching sensor mounted, communication networks for motion control and sensor information embedded, and user interface provided, is presented.
