A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for modeling those manipulators in a completely dynamic way. The proposed method enables online changes of the kinematic structure with the use of a special function; termed “meta-controlling function”. This function can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in the event of partial damage. The direct and inverse kinematics are solved for a generic three-dimensional articulated hyperredundant arm, that can be used as a proof of concept for more specific structures. To demonstrate the robustness of our method, experimental simulation results, for a basic “meta-controlling” function, are presented.
There are many technical difficulties arising from having big open-chained kinematic structures because of the exponential increment of the splines forces at the joints to all the body. This problem prohibited the application of the first hyper redundant manipulators in three-dimensional space. For example studies such as the one by Chirikjian and Burdick @cite_29 used a 2 dimensional arms with 30 degrees of freedom. There are some solutions that have been proposed addressing some of those technical difficulties such as studies that focus on building hyper redundant robotic arms @cite_3 @cite_17 @cite_23 @cite_18 @cite_34 @cite_19 , and studies that deal with the design of joints with many DoFs per joint, used for hyper redundant arms @cite_32 @cite_5 @cite_30 . by @cite_3 , @cite_17 , @cite_23 , @cite_18 , and @cite_34 , and @cite_19 that focus on building hyper redundant robotic arms. Other studies by @cite_32 , @cite_5 and @cite_30 deal with the structure of joints of many DoFs that used for hyper redundant arms.
@cite_30 @cite_18 @cite_29 @cite_32 @cite_3 @cite_19 @cite_23 @cite_5 @cite_34 @cite_17
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We present a new mechanical design for a compact three degrees-of-freedom joint mechanism. This joint design is ideal for use in robotic devices, especially hyper-redundant or snake-like robots. This joint exhibits an unprecedented range of motion: the origin of a coordinate frame attached to the output link of the joint can move on a spherical cone whose apex angle is 120° and this coordinate frame can be rotated around an axis passing through its origin and the center of the sphere. Moreover, the joint is optimized for strength, compactness and accuracy. These characteristics are verified by exploring the magnitude of the wrenches and errors that the joint can produce in its effective workspace. Finally, we present a mechatronic integration of four of our joints to construct a 12 degrees-of-freedom spatial hyper-redundant robot. Presents the design of a new lightweight, hyper-redundant, deployable binary robotic articulated intelligent device (BRAID), for space robotic systems. The BRAID element is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom and a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources. A 30 degree-of-freedom (DOF) planar hyper-redundant manipulator is constructed in order to validate and demonstrate the authors' previous work on a framework for hyper-redundant robot kinematic analysis and algorithm development. The implementation of this robot is reviewed, and experimental work in hyper-redundant manipulation, obstacle avoidance, and locomotion is summarized. Potential benefits of high-DOF manipulators include superior obstacle avoidance ability, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping. > In this paper, the kinematics of a joint with three degrees of freedom for a novel hyper-redundant robot arm is investigated. This joint is able to achieve a superposed rotation about two axes (roll and pitch) and a translational motion along one axis as a common prismatic joint. The forward and inverse kinematics of the so-called Multi-Joint will be determined in a closed-form solution. Next, the reachable and suitable workspace will be worked out to determine the solution space of the inverse kinematics. Finally, the differential kinematics to compute the cartesian velocity and statics will be determined. Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. This paper describes geometric and kinematic modelling steps of a class of an hybrid hyper-redundant robot (HHRR). The main problem of such complex manipulator robot structures is the synthesis of an appropriate control of n number of degrees of freedom (DOF). Thus, it is important at the design step, to develop geometric and kinematic models allowing to reconstruct the kinematical behavior of n concatenated modules. The studied structure is considered as modular with multiple DOF and is built by connecting in serial many parallel modules. The coordinate frame distribution is based on space curve differential geometry. The inverse Geometric and kinematic models are calculated analytically for a n-DOF of HHRR manipulator while the final application is applied to the case of a 3-modules robot (18-DOF). We present a refined, second-generation design, construction and integration, of a compact hyper-redundant snakelike robot, called "Woodstock." This robot has substantial advantages over our previous design iteration, "Snoopy," in terms of cost and performance. The robot is composed of six actuated universal joints which are serially chained to construct a twelve degrees of freedom snake-like robot optimized for strength and compactness. Any joint in the robot is strong enough to produce a torque that is capable of cantilevering the entire robot. This paper also presents the low-level system- control architecture, which is based on a high-speed RS-485 data bus; this allows the entire system to be operated with only two power and two data wires. The system is controlled from a remote computer on a wireless network and can also run over the Internet. This paper presents a novel compact design for a two degrees of freedom (DOF) joint mechanism. The joint is optimized for compactness, strength and range of motion which makes it ideal for constructing spatial or three-dimensional hyper redundant robots. We also identify and classify various prior joint designs that led to the development of this new concept. Finally, we present the joint forward kinematics, and force and torque calculations to verify the joint's range of motion and mechanical advantage. This paper puts forward a novel design concept for building a 3-D hyper-redundant chain robot (HRCR) system, consisting of linked, identical modules and one base module. All the joints of this HRCR are passive and state controllable and share common inputs introduced by wire-driven control. The original prototype developed here, named 3D-Trunk, is used as a proof of concept. We will present its whole mechanical design and controller architecture. The key components of 3D-Trunk, its operational principles, and all implementation issues are exhibited and described in detail. Basic robotics analyses, dynamics simulations, and some experiments are also shown. This novel design concept is highly modular and scalable, no matter how many degrees of freedom are implemented and, thus, provides an affordable solution for constructing an HRCR. In order to realize a practical hyper-redundant manipulator, a new lightweight wire driven transmission mechanism, named M-Drive, has been developed. This mechanism not only takes advantage of the lightweight properties of a wire and pulley system but also has a unique torque keeping function. The mechanism keeps the joint solid without compliance and not only allows the joint to deform when in contact with an external torque over a threshold torque, but is also able to maintain that threshold torque while deforming. Furthermore, M-Drive also features automatic wire elongation elimination, the fundamental difficulty of a wire and pulley system. Combining two M-Drive mechanisms in a differential configuration, a 2-DOF coupled drive actuator that maximizes power has also been developed for a proposed gravity compensated hyper-redundant manipulator named Float Arm. Experimental results for the M-Drive mechanism and the differential M-Drive actuator are also included.