Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Chibani, Abdelhakim; Mahfoudi, Chawki; Chettibi, Taha; Zaatri, Abdelouahab

doi:10.1177/0959651815583423

Cited by 8 publications

(9 citation statements)

References 25 publications

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“…Generally, the IKM for the parallel robot, which describes the relationship of the distance between points A i, j, k and B i, j, k with the endpoint coordinates, is simple to obtain using some elementary kinematic relations. 28,29 This model is given by the following equation…”

Section: Determination Of Links' Length Based On Parallel Robot Morphmentioning

confidence: 99%

A metaheuristic approach to solve inverse kinematics of continuum manipulators

Amouri

Mahfoudi

Zaatri

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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Continuum robot modeling is a research topic that focuses on ways to develop kinematic models while respecting some kinematics specificity as well as mechanical properties of such class of robots. The purpose of this article is to present a new alternative approach for solving inverse kinematic models for multi-sections of continuum manipulators. To achieve this work, it is assumed that each constitutive section is curved in a circular arc shape with an inextensible central structure axis. At first, the article presents a solution of an inverse kinematic model for one bending section and details some adopted methodologies, based on the identical inverse kinematic model of parallel robots, used for computation of the links’ length. The latter allows concatenating between multiple platforms to realize a bending section. The inverse kinematic model of the multi-section manipulator is then developed using a modular concept where the endpoint coordinates of each bending section are determined using a metaheuristic method. Finally, to validate the proposed approach, some simulation and experimental studies have been carried out on the Compact Bionic Handling Arm. From this investigation, it was found that the multiple test results show the ability of the developed metaheuristic approach to avoid obstacles and to adopt a real-time implementation with multi-section configuration. On the other hand, this type of concept can enable to model all continuum robots with multiple bending sections.

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Section: Determination Of Links' Length Based On Parallel Robot Morphmentioning

confidence: 99%

A metaheuristic approach to solve inverse kinematics of continuum manipulators

Amouri

Mahfoudi

Zaatri

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

show abstract

“…What's more, the load capacity of continuous robots is relatively low because of structural limitations. 2The hyper-redundant robots are a type of robots, which are in series with single-degree-of-freedom driving joints or in series with 2-4-degree-of-freedom parallel mechanism unit modules [23]. Transeth et al [24,25] studied the obstacle-crossing gait of snakes and developed a snakelike robot Aiko with high flexibility and adaptability.…”

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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“…15 The spline curves have been used in the kinematics of the hyper-redundant manipulators. 16,17 But, it is hard to ensure the smoothness of the connecting point and the local adjustment for the piecewise curve by the spline curve at the same time. Liljebäck et al used the planar Bézier curve to construct the control frame for the snake robot locomotion.…”

Section: Introductionmentioning

confidence: 99%

Head-Raising Method of Snake Robots Based on the Bézier Curve

Zhou

Zhang

et al. 2020

Robotica

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SUMMARY For acquiring a broad view in an unknown environment, we proposed a control strategy based on the Bézier curve for the snake robot raising its head. Then, an improved discretization method was developed to accommodate the backbone curves with more complex shapes. Besides, in order to determine the condition of using the improved discretization method, energy of framed space curve is introduced originally to estimate the shape complexity of the backbone curve. At last, based on degree elevation of the Bézier curve, an obstacle avoidance strategy of the head-raising motion was proposed and validated through simulation.

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Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Cited by 8 publications

References 25 publications

A metaheuristic approach to solve inverse kinematics of continuum manipulators

A metaheuristic approach to solve inverse kinematics of continuum manipulators

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

Head-Raising Method of Snake Robots Based on the Bézier Curve

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