DEVELOPMENT OF A CONTINUUM MANIPULATOR WITH INTEGRATED TENG SENSOR FOR ENHANCED CONTROL AND FEEDBACK

Abstract

The integration of continuum manipulators into mobile robotic systems for pipe inspection represents a significant advancement in navigating confined environments. These manipulators demonstrate exceptional flexibility and smooth movement, enabled by individually controlled motors that manage cable tension, allowing for complex tasks such as defect detection and object manipulation. The lightweight yet robust design, achieved through 3D-printed trimmed-helicoid structures, effectively addresses mechanical wear and environmental challenges encountered in pipelines. Enhanced real-time feedback is provided by sensor technologies, particularly triboelectric nanogenerator (TENG)-wire sensors, which improve operational precision and support adaptive manipulation strategies. By addressing the unique challenges of pipeline inspection, including navigation through complex geometries and hazardous environments, advanced control strategies and the synergistic integration of design methodologies, sensor technologies, and interdisciplinary advancements are employed. This comprehensive approach establishes a foundation for reliable and efficient mobile robotic systems tailored for critical inspection tasks.