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In this article, a cable-driven elastic backbone worm-like robot (named "SpringWorm") of decimeter-level size is designed, which has high adaptability in crack inspection of the weld between reactor pressure vessel (RPV) and control rod drive mechanisms. The robot consists of a body that adopts a rectangular helix spring backbone driven by four cables and the flexible claws embedded with distributed electromagnets. Combining the omnidirectional deformation of the backbone and the passive deformation adsorption of the claws, the robot can achieve a variety of gaits. Based on the approaches of geometric analysis and transformation matrices of the coordinate frame, a kinematic model of the cable-driven backbone has been established. Moreover, a mechanical model considering the friction between the cable and the backbone has also been established. The top position and the bending angle of the backbone obtained by the theory, simulation, and experiment are in good agreement. In addition, the errors of the driving force between simulation and experimental results are also small. SpringWorm is 670 g, measures 206 × 65 × 75 mm, has a maximum speed of 8.9 mm/s, and has a maximum payload of 1 kg. The robot can climb over 2-cm-tall steps and 4-cm-deep ditches, and climb and turn on the vertical wall, on the pipe with a radius of 31 cm, and on the spherical surface of RPV.
Yang et al. (2022) studied this question.