The research team of Prof. Jianwen Zhao from Harbin Institute of Technology published a continuum climbing robot with a Retractable Prismatic Spring (CPS) backbone in IEEE RAL. The study validates the kinetostatic models (FEA, DM, and CM) using the NOKOV motion capture system, demonstrating precise deformation tracking under pitch, yaw, and 3D combined motions.
This work advances structural design for inspection robots, enabling navigation in complex discontinuous terrains like pipes and nuclear reactor vessels.
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