Kinematics analysis of a 3-DOF joint for a novel hyper-redundant robot arm

Author

Behrens, Roland ; Küchler, Conrad ; Förster, Tilo ; Elkmann, Norbert

Author_Institution

Bus. Unit Robotic Syst., Fraunhofer Inst. for Factory Oper. & Autom. IFF, Magdeburg, Germany

fYear

2011

fDate

9-13 May 2011

Firstpage

3224

Lastpage

3229

Abstract

In this paper, the kinematics of a joint with three degrees of freedom for a novel hyper-redundant robot arm is investigated. This joint is able to achieve a superposed rotation about two axes (roll and pitch) and a translational motion along one axis as a common prismatic joint. The forward and inverse kinematics of the so-called Multi-Joint will be determined in a closed-form solution. Next, the reachable and suitable workspace will be worked out to determine the solution space of the inverse kinematics. Finally, the differential kinematics to compute the cartesian velocity and statics will be determined.

Keywords

flexible manipulators; inverse problems; manipulator kinematics; redundant manipulators; 3-DOF joint; cartesian velocity; closed form solution; differential kinematics; forward kinematics; hyper redundant robot arm; inverse kinematics; multijoint; superposed rotation; translational motion; Bismuth; Couplings; Geometry; Humans; Joints; Kinematics; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979897

Filename

5979897