Kinematics Analysis of a 3-DOF Joint for a Novel Hyper-Redundant Robot Arm

被引：0
|
作者：
Behrens, Roland [1 ]
Kuechler, Conrad [1 ]
Foerster, Tilo [1 ]
Elkmann, Norbert [1 ]
机构：
[1] Fraunhofer Inst Factory Operat & Automat, Business Unit Robot Syst, D-39106 Magdeburg, Germany
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页数：6
相关论文
共 50 条
  • [31] Control of hyper-redundant robot using QDSEGA
    Ito, K
    Matsuno, R
    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5, 2002, : 1499 - 1504
  • [32] A Hyper-Redundant Robot Development for Tokamak Inspection
    Dutta, Pramit
    Gotewal, K. K.
    Rastogi, Naveen
    Tiwari, Raviranjan
    ManoahStephen, M.
    PROCEEDINGS OF THE ADVANCES IN ROBOTICS (AIR'17), 2017,
  • [33] Kinematic Analysis of a Novel 3-DOF Hybrid Mechanical Arm
    Li, Y. B.
    Jin, Z. L.
    2008 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-5, 2008, : 997 - 1001
  • [34] A Novel Cable Actuation Mechanism for 2-DOF Hyper-redundant Bending Robot Composed of Pulleyless Rolling Joints
    Suh, Jung-wook
    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 961 - 966
  • [35] A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint
    Lou, Ya'nan
    Quan, Pengkun
    Lin, Haoyu
    Wei, Dongbo
    Di, Shichun
    APPLIED SCIENCES-BASEL, 2021, 11 (03): : 1 - 19
  • [36] Improving the Motion Precision of a 24-DoF Hyper-Redundant Robot through Kinematic Calibration
    Zheng, Yang
    Li, Ziqing
    Deng, Jiangqin
    Zou, Jiang
    Gu, Guoying
    Zhu, Xiangyang
    2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022), 2022, : 690 - 695
  • [37] Modeling and Analysis of a Novel 3-DoF Spatial Parallel Robot
    Ardestani, Mahdi Alinaghizadeh
    Asgari, Mohsen
    2012 19TH INTERNATIONAL CONFERENCE MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2012, : 162 - 167
  • [38] A Fast and Robust Kinematic Model for a 12 DoF Hyper-Redundant Robot Positioning: an Optimization Proposal
    Lima, Jose
    Pereira, Ana I.
    Costa, Paulo
    Pinto, Andry
    Costa, Pedro
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON NUMERICAL ANALYSIS AND APPLIED MATHEMATICS 2016 (ICNAAM-2016), 2017, 1863
  • [39] Inverse Displacement Analysis of a Hyper-redundant Elephant’s Trunk Robot
    Yongjie Zhao
    Lei Jin
    Peng Zhang
    Jianyuan Li
    Journal of Bionic Engineering, 2018, 15 : 397 - 407
  • [40] A Novel 3-DOF Parallel Robot and Its Kinematic Analysis
    Liu, Xiaobo
    Yuan, Xiaodong
    Wei, Xiaofeng
    Ni, Wei
    MACHINE DESIGN AND MANUFACTURING ENGINEERING III, 2014, : 759 - 763
12345