Prototyping a nonholonomic manipulator

We proposed a nonholonomic manipulator which is a controllable n joints manipulator with only two inputs, exploiting a special kind of velocity transmission called a nonholonomic gear. Since the nonholonomic manipulator was theoretically designed from the viewpoint of kinematic constraints and nonlinear control, the mechanical implementation and prototyping are extremely important in practice. In this paper, the principle of mechanical design of a nonholonomic manipulator is established, and the experimental results are shown using a prototype nonholonomic manipulator