Conceptual study of a class of hybrid hyper-redundant robot

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).