A new spatial hyper-redundant manipulator Article

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Overview

abstract

• This work presents a novel hyper-redundant manipulator. Such a manipulator is built with a variable number of tandem-assembled modules. Each module consists of a 3-dof parallel manipulator with asymmetric extremities in which moving platform possesses mixed motions with respect to the base platform. The manipulator%27s architecture is so simple that the forward position analysis is presented in closed-form solution, more specifically, in echelon-form solution. On the other hand, the velocity and acceleration analyses are carried out using the theory of screws. Finally, a case study consisting of solving the kinematic analysis of a 30-dof hyper-redundant manipulator is presented. © 2008 Elsevier Ltd. All rights reserved.
• This work presents a novel hyper-redundant manipulator. Such a manipulator is built with a variable number of tandem-assembled modules. Each module consists of a 3-dof parallel manipulator with asymmetric extremities in which moving platform possesses mixed motions with respect to the base platform. The manipulator's architecture is so simple that the forward position analysis is presented in closed-form solution, more specifically, in echelon-form solution. On the other hand, the velocity and acceleration analyses are carried out using the theory of screws. Finally, a case study consisting of solving the kinematic analysis of a 30-dof hyper-redundant manipulator is presented. © 2008 Elsevier Ltd. All rights reserved.

authors

• Gallardo J.
• Gonzalez-Galvan Emilio J.
• Orozco H.
• Rico-Martínez J.M.

publication date

• 2009-01-01

funding provided via

• Consejo Nacional de Ciencia y Tecnología, CONACYT  Grant

published in

• Robotics and Computer-Integrated Manufacturing  Journal

Research

keywords

• Echelon-form solution; Hyper-redundant manipulator; Kinematics; Screw theory Kinematics; Acceleration analysis; Base platforms; Closed-form solutions; Echelon-form solution; Forward position analysis; Hyper-redundant manipulator; Kinematic Analysis; Moving platforms; Parallel manipulators; Screw theory; Variable numbers; Redundant manipulators

Identity

Digital Object Identifier (DOI)

• 10.1016/j.rcim.2008.04.006

Additional Document Info

start page

• 703

end page

• 708

volume

• 25

issue

• 4-5