Hyper redundant manipulator using compound three-bar linkages

descriptionPublicationkeyboard_double_arrow_right Article 01 Sep 2000Publisher:IEEEJournal:2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556), volume 1, pages 8-13

Authors: Koichi Koganezawa; Takashi Kinoshita;

doi: 10.1109/aim.2001.936422 , 10.1016/s1474-6670(17)37946-6

Hyper redundant manipulator using compound three-bar linkages

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Abstract

A mechanism for a hyper redundant manipulator (HRM) is presented, which comprises serially assembled compound three-bar linkages (CTLs). The CTL mechanism has some unique properties. The paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL, units. A recursive algorithm of inverse kinematics is employed. It also presents the method and the simulation of the dynamical analysis. Holonomic constraints are sufficiently sustained by a constraint stabilization method.

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Tokai University
Japan

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