Title :
Hyper redundant manipulator using compound three-bar linkages
Author :
Koganezawa, Koichi ; Kinoshita, Takashi
Author_Institution :
Dept. of Mech. Eng., Tokai Univ., Kanagawa, Japan
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
Keywords :
differential equations; manipulator dynamics; matrix algebra; mechatronics; redundant manipulators; compound three-bar linkages; constraint stabilization method; dynamical analysis; forward kinematics; holonomic constraints; hyper redundant manipulator; inverse kinematics; recursive algorithm; Actuators; Analytical models; Assembly; Couplings; Equations; Human resource management; Kinematics; Manipulator dynamics; Mechanical engineering; Mechanical factors;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936422
