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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)
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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

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