Title :
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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242160
