Hostname: page-component-cd9895bd7-gbm5v Total loading time: 0 Render date: 2024-12-25T05:39:44.078Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and study of a novel hyper-redundant manipulator

Published online by Cambridge University Press:  02 March 2021

Yanming Li ,
Peisun Ma ,
Changjun Qin ,
Xueguan Gao ,
Jianbin Wang  and
Haihong Zhu
Yanming Li
Affiliation:
The Research Institute of Robotics, School of Mechanical Engineering, Shanghai JiaoTong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Peisun Ma
Affiliation:
The Research Institute of Robotics, School of Mechanical Engineering, Shanghai JiaoTong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Changjun Qin
Affiliation:
The Research Institute of Robotics, School of Mechanical Engineering, Shanghai JiaoTong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Xueguan Gao
Affiliation:
The Research Institute of Robotics, School of Mechanical Engineering, Shanghai JiaoTong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Jianbin Wang
Affiliation:
The Research Institute of Robotics, School of Mechanical Engineering, Shanghai JiaoTong University, 1954 Huashan Road, Shanghai, 200030 (P.R. China)
Haihong Zhu
Affiliation:
Intelligent Machine Dynamic Laboratory, School of Mechanical Engineering, Georgia Institute of Technology, AtlantaGeorgia300332 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

A novel hyper-redundant manipulator named RT1 is presented in this paper. The key feature of RT1 is that all degrees of freedom (DOF) are actuated with only one motor, via specially designed hinge bar universal joints. The mechanism of RT1 which includes a special hinge bar universal joint, bend structure and motion diversion structure is described. RT1 is a discrete manipulator; the discrete working space is described, and the parameter optimization for kinematical redundancy resolution is also studied. In selecting the unit increment of joints angles as an optimizing parameter, the criterion used is to alter the design parameter as little as possible during the manipulator’s motion from the initial to the expected position.

Keywords

Hyper-redundant manipulatorDiscrete manipulatorOptimization
Type
Research Article
Information
Robotica , Volume 21 , Issue 5 , October 2003 , pp. 505 - 509
Copyright
Copyright © Cambridge University Press 2003

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Hirose, S. and Ma, S., “Coupled tendon-driven multijoint manipulator,” IEEE International Conference on Robotics and Automation, 2, pp. 1268–1275 (1993).Google Scholar
2. Kimura, S. et al. “Hyper redundant modular manipulator arm,” 26th Annual Conference of the IEEE, 4, pp. 2467–2472 (2000).Google Scholar
3. Chirikjian, G.S. and Burdick, J.W., “Design and experiments with a 30 DOF robot,” IEEE International Conference on Robotics and Automation, 3, pp. 113–119 (1993).Google Scholar
4. Paljug, E., Ohm, T. and Hayati, S., “The JPL Serpentine Robot: A 12-DOF system for inspection,” IEEE International Conference on Robotics and Automation, 3, pp. 3143–3148 (1995).Google Scholar
5. Lewis, M.A. and Zehnpfennig, D.M., “R7: a snake-like robot for 3-d visual inspection,” Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, 2, pp. 1310–1317 (1994).Google Scholar
6. Koganezawa, K. and Kinoshita, T., “Hyper redundant manipulator using compound three-bar linkages,” IEEE/ASME International Conference on Advanced Intelligent Mechantronics, 1, pp. 8–13 (2001).Google Scholar
7. Lees, D.S. and Chirikjian, G.S., “An efficient method for computing the forward kinematics of binary manipulators,” IEEE International Conference on Robotics and Automation, 2, pp. 1012–1017 (1996).CrossRefGoogle Scholar
8. Chirikjian, G.S., “A binary paradigm for robotic manipulators,” IEEE International Conference on Robotics and Automation, 4, pp. 3063–3069 (1994).Google Scholar