TY - GEN
T1 - A hyper-redundant continuous robot
AU - Jingzhou, Yang
AU - Jason, Potratz
AU - Abdel-Malek, Karim
PY - 2006
Y1 - 2006
N2 - This paper presents a novel design and analysis of a hyper-redundant continuous robot (biological continuum style manipulator), actuation system, and control strategy. The robot includes 8 flexible segments, though it can be extended to more segments as necessary. In this study the gravity of the springs is neglected due to the manipulation force is much larger than these gravity forces. This mechanism exhibits a wide range of maneuverability and has a large number of degrees of freedom. Each segment is designed using a novel flexible mechanism based on the loading of a compression spring in both transverse and axial directions and using cable-conduit systems. The forward kinematics of the mechanism is also presented and lends itself well to computer control. It is shown that the solution of the transverse deflection of each segment is obtained in a general form, while the stiffness coefficients are obtained in closed form. A prototype robot segment is experimentally tested, the results are verified. A bench-top actuation system has been developed and a control scheme used in prosthetic hand control has been implemented to control the mechanism.
AB - This paper presents a novel design and analysis of a hyper-redundant continuous robot (biological continuum style manipulator), actuation system, and control strategy. The robot includes 8 flexible segments, though it can be extended to more segments as necessary. In this study the gravity of the springs is neglected due to the manipulation force is much larger than these gravity forces. This mechanism exhibits a wide range of maneuverability and has a large number of degrees of freedom. Each segment is designed using a novel flexible mechanism based on the loading of a compression spring in both transverse and axial directions and using cable-conduit systems. The forward kinematics of the mechanism is also presented and lends itself well to computer control. It is shown that the solution of the transverse deflection of each segment is obtained in a general form, while the stiffness coefficients are obtained in closed form. A prototype robot segment is experimentally tested, the results are verified. A bench-top actuation system has been developed and a control scheme used in prosthetic hand control has been implemented to control the mechanism.
KW - Biological manipulators
KW - Continuum style robot
KW - Maneuverability
UR - http://www.scopus.com/inward/record.url?scp=33845660863&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641976
DO - 10.1109/ROBOT.2006.1641976
M3 - Conference contribution
AN - SCOPUS:33845660863
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1854
EP - 1859
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -