Kinematics and dynamics of a cable-like hyper-flexible manipulator

Author

Mochiyama, Hiromi ; Suzuki, Takahiro

Author_Institution

Dept. of Mech. Syst. Eng., Nat. Defense Acad., Kanagawa, Japan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3672

Abstract

A Hyper-Flexible Manipulator (HFM, for short) is a kind of continuum robots with a simple mechanical structure like a cable, rope and string, which are useful tools utilized everywhere in various forms. In this paper, in order to achieve dexterous and useful manipulation by this type of robot, we discuss kinematics and dynamics of an HFM. We rigorously derive a spatial, nonlinear and continuum dynamics model with an underactuated mechanism using special kinematics based on curve geometry and theory of robot manipulation.

Keywords

computational geometry; continuum mechanics; dexterous manipulators; flexible manipulators; manipulator dynamics; manipulator kinematics; multidimensional systems; cable-like hyper flexible manipulator; continuum dynamics; continuum robots; curve geometry; dexterous manipulation; manipulator dynamics; manipulator kinematics; mechanical structure; nonlinear dynamics; robot manipulation; spatial dynamics; underactuated mechanism; Control systems; Cranes; Defense industry; Deformable models; Kinematics; Manipulator dynamics; Mechanical cables; Mechanical systems; Robots; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242160

Filename

1242160