A Multilink Spatial Hyper Redundant Manipulator
Conventionally, industrial robots manipulate their end effector in a pre defined workspace. Structures are made rigid to cater the pay load requirements. Navigation of these arm inspired robots in cluttered environment pose a challenging task, hence the focus on the continuum robots becomes a cynosure. This precisely defines the requirement of a redundant manipulator where in the controllable degrees of freedom is more than the total degree of freedom in the work space. Present work is focused on design of one such manipulator that can function in a hassle milieu. This serial manipulator briefly named as multilink spatial hyper redundant robot comprises of sixteen links and fifteen joints. With each joint providing a prescribed degree of freedom a thirty degree of freedom is realized on the system. The degree of freedom of the system is precisely controlled using ropes which are driven by a rotary actuator. Kinematic approach to the configuration is proposed. A prototype of this robot was developed for analyzing the functionality and for future study.
Spatial Hyper Continuum robots Rope robots Serpentine Redundant Backbone robot Metamorphic robot
Praveen Jagadeesan Sabarish Sivaprakasham Dinesh Kumar M. Madhu
PSG College of Technology, Coimbatore, India
国际会议
天津
英文
869-875
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）