Design of cable-driven modules for hyper-redundant manipulators

• Main Author: Lim, Hai Rui.
• Other Authors: Yeo Song Huat
• Format: Final Year Project
• Language: English
• Published: 2010
• Subjects: DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery; DRNTU::Engineering::Mechanical engineering::Machine design and construction; DRNTU::Engineering::Mechanical engineering::Mechanics and dynamics; DRNTU::Engineering::Mechanical engineering::Prototyping; DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/40391
• Institution: Nanyang Technological University

The interior of the wing compartments of the aircraft are highly confined, thus making it impossible for any conventional robotic arm to perform inspection directly. The traditional method used is to disassemble the components to perform the inspection and then re-assembling back. This is extremely...