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.

中文翻译：

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SpringWorm：一种用于控制杆驱动机构检测的大范围全向可变形矩形弹簧软体爬行机器人

本文设计了一种分米级尺寸的电缆驱动的弹性骨干类蠕虫机器人（命名为“SpringWorm”），该机器人在反应堆压力容器（RPV）与控制棒驱动机构之间的焊缝裂纹检测中具有较高的适应性. 该机器人由采用四根电缆驱动的矩形螺旋弹簧骨架的主体和嵌有分布式电磁铁的柔性爪组成。结合脊柱的全方位变形和爪子的被动变形吸附，机器人可以实现多种步态。基于坐标系的几何分析和变换矩阵的方法，建立了缆索驱动骨架的运动学模型。此外，还建立了考虑电缆与主干之间摩擦的力学模型。理论、仿真和实验得到的脊柱顶部位置和弯曲角度吻合较好。此外，驱动力仿真与实验结果的误差也较小。SpringWorm 重 670 克，尺寸为 206 × 65 × 75 毫米，最大速度为 8.9 毫米/秒，最大有效载荷为 1 千克。机器人可以翻越2厘米高的台阶和4厘米深的沟渠，可以在竖直的墙壁上、半径31厘米的管道上、RPV的球面上进行翻爬和转弯。最大有效载荷为 1 公斤。机器人可以翻越2厘米高的台阶和4厘米深的沟渠，可以在竖直的墙壁上、半径31厘米的管道上、RPV的球面上进行翻爬和转弯。最大有效载荷为 1 公斤。机器人可以翻越2厘米高的台阶和4厘米深的沟渠，可以在竖直的墙壁上、半径31厘米的管道上、RPV的球面上进行翻爬和转弯。