Design and study of a novel hyper-redundant manipulator

Liu, Yanming; Ma, Ping; Chang-jun, Qin; Gao, Xueguan; Wang, Jianbin; Zhu, Haihong

doi:10.1017/s0263574703005125

Cited by 10 publications

(6 citation statements)

References 8 publications

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“…Compared with traditional robots, the hyper-redundant bionic robots can accomplish complex tasks in unstructured environments with narrow workspace and numerous obstacles because of their flexible structure [14]. These contemporary robots have attracted the attention of industry experts and researchers [15][16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Zhao

Song

Zhang

et al. 2020

Chin. J. Mech. Eng.

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As for the complex operational tasks in the unstructured environment with narrow workspace and numerous obstacles, the traditional robots cannot accomplish these mentioned complex operational tasks and meet the dexterity demands. The hyper-redundant bionic robots can complete complex tasks in the unstructured environments by simulating the motion characteristics of the elephant’s trunk and octopus tentacles. Compared with traditional robots, the hyper-redundant bionic robots can accomplish complex tasks because of their flexible structure. A hyper-redundant elephant’s trunk robot (HRETR) with an open structure is developed in this paper. The content includes mechanical structure design, kinematic analysis, virtual prototype simulation, control system design, and prototype building. This design is inspired by the flexible motion of an elephant’s trunk, which is expansible and is composed of six unit modules, namely, 3UPS-PS parallel in series. First, the mechanical design of the HRETR is completed according to the motion characteristics of an elephant’s trunk and based on the principle of mechanical bionic design. After that, the backbone mode method is used to establish the kinematic model of the robot. The simulation software SolidWorks and ADAMS are combined to analyze the kinematic characteristics when the trajectory of the end moving platform of the robot is assigned. With the help of ANSYS, the static stiffness of each component and the whole robot is analyzed. On this basis, the materials of the weak parts of the mechanical structure and the hardware are selected reasonably. Next, the extensible structures of software and hardware control system are constructed according to the modular and hierarchical design criteria. Finally, the prototype is built and its performance is tested. The proposed research provides a method for the design and development for the hyper-redundant bionic robot.

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Section: Introductionmentioning

confidence: 99%

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Zhao

Song

Zhang

et al. 2020

Chin. J. Mech. Eng.

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“…The hyperredundant robot [9][10][11][12][13] is usually built by connecting several rigid links via actuated revolute/prismatic joints in a chain or by connecting 2-to 4-DOF parallel mechanism modules in series. [9][10][11][12][13][14][15] Compared with the continuum robot, the hyper-redundant robot has a certain stiffness value and load capability due to the structure consists of rigid links and joints. Some prototypes of hyper-redundant robots have been developed for different potential applications.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, it can bend continuously in a flexible way. The hyper-redundant robot 9 –13 is usually built by connecting several rigid links via actuated revolute/prismatic joints in a chain or by connecting 2- to 4-DOF parallel mechanism modules in series. 9 –15 Compared with the continuum robot, the hyper-redundant robot has a certain stiffness value and load capability due to the structure consists of rigid links and joints.…”

Section: Introductionmentioning

confidence: 99%

Inverse displacement analysis of a hyper-redundant bionic trunk-like robot

Zhao

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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This article presents the inverse displacement analysis of a hyper-redundant bionic trunk-like robot. The hyper-redundant bionic trunk-like robot is constituted of some parallel mechanism modules in series. The mathematical model of the inverse displacement analysis of the hyper-redundant robot comprises a set of nonlinear consistent equations with a number of unknown variables that are more than given equations. It is impossible to find all solutions for the inverse displacement analysis since there are infinite solution possibilities. By planning the pose of distal moving platforms for robot modules, the problem of the inverse displacement analysis of the hyper-redundant robot is transformed into that of a parallel mechanism. The inverse velocity and acceleration computation are then implemented using a method of the numerical differentiation. A developed prototype of a hyper-redundant bionic trunk-like robot is presented. The approach can be applied to the hyper-redundant robot with man–machine interactive system in the unstructured environment.

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“…Finally, a handful of research groups have presented designs based on a similar and powerful principle: the module consists of at least two gears, constantly rotating in opposite directions, and the output is coupled with either one of them using ElectroMagnetic (EM) clutches, or locked using a brake (Li et al, 2003; Karbasi et al, 2004; Yadmellat et al, 2014). The group led by Xie was probably one of the first to propose such arrangement to drive a 9 DoF robotic hand (Chen and Xie, 1999) and a 6 DoF serial manipulator (Li et al, 2011) with a single electric motor.…”

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

Xiloyannis

Annese²,

Canesi³

et al. 2019

Front. Neurorobot.

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The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of the device. Here we propose a paradigm to independently control multiple degrees of freedom using a set of modular components, all tapping power from a single motor. Each module consists of three electromagnetic clutches, controlled to convert a constant unidirectional motion in an arbitrary output trajectory. We detail the design and functioning principle of each module and propose an approach to control the velocity and position of its output. The device is characterized in free space and under loading conditions. Finally, we test the performance of the proposed actuation scheme to drive a soft exosuit for the elbow joint, comparing it with the performance obtained using a traditional DC motor and an unpowered-exosuit condition. The exosuit powered by our novel scheme reduces the biological torque required to move by an average of 46.2%, compared to the unpowered condition, but negatively affects movement smoothness. When compared to a DC motor, using the our paradigm slightly deteriorates performance. Despite the technical limitations of the current design, the method proposed in this paper is a promising way to design more portable wearable robots.

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Design and study of a novel hyper-redundant manipulator

Cited by 10 publications

References 8 publications

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Inverse displacement analysis of a hyper-redundant bionic trunk-like robot

Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

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