Title :
Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications
Author :
Kang, Rongjie ; Kazakidi, Asimina ; Guglielmino, Emanuele ; Branson, David T. ; Tsakiris, Dimitris P. ; Ekaterinaris, John A. ; Caldwell, Darwin G.
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy
Abstract :
The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. Each segment is a parallel robotic mechanism with redundant actuation. The kinematics and dynamics of this manipulator are analyzed and simulated utilizing a modular computational modeling method. Simulation results for some primitive movements are presented, and the effect of hydrodynamic forces is included.
Keywords :
flexible manipulators; parallel machines; redundant manipulators; underwater vehicles; hyper-redundant dynamic model; hyper-redundant manipulator; modular computational modeling method; octopus arm; octopus-like manipulator; parallel robotic mechanism; redundant actuation; underwater applications; Equations; Force; Joints; Manipulator dynamics; Mathematical model; Pistons;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094468
