Volume 20, Issue 3 (March 2020)
Modares Mechanical Engineering 2020, 20(3): 669-676 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Motahari A, Zohoor H, Habibnejad Korayem M. Design and Construction of a Discretely Actuated Hyper-redundant Manipulator. Modares Mechanical Engineering 2020; 20 (3) :669-676
URL: http://mme.modares.ac.ir/article-15-30410-en.html
URL: http://mme.modares.ac.ir/article-15-30410-en.html
1- Mechanical Engineering Department, Engineering Faculty, Saveh Branch, Islamic Azad University, Saveh, Iran , a.motahari@iau-saveh.ac.ir
2- Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran
3- Mechanical Engineering Department, Iran University of Science & Technology, Tehran, Iran
2- Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran
3- Mechanical Engineering Department, Iran University of Science & Technology, Tehran, Iran
Abstract: (4599 Views)
In this paper, the design and construction of a new binary pneumatic actuated hyper-redundant manipulator is presented. The discretely actuated hyper-redundant manipulators have advantages such as wide workspace, the ability of obstacle avoidance and simple control. Despite of these advantages, few prototypes have been made so far, which each of them has some defects. These defects are small movement range, fairly high cost, and accelerated and impulsive motion. To solve these problems, the 3-revolute prismatic spherical parallel mechanisms (3-RPS) are used as modules in this paper. So the cost is reduced due to the lower number of legs. Also, the motion range has been increased by replacing the spherical joints with universal joints. The movements of the manipulator have been effectively more uniform and softer by using flow control valves on cylinders. Finally, several tests are conducted to determine how the manipulator moves and the results are presented.
Keywords: Robot design and construction, Hyper-redundant Manipulator, Discrete Actuator, Binary actuation
Article Type: Original Research |
Subject:
Robotic
Received: 2019/02/20 | Accepted: 2019/07/9 | Published: 2020/03/1
Received: 2019/02/20 | Accepted: 2019/07/9 | Published: 2020/03/1
References
1. Pieper DL. The kinematics of manipulators under computer control [Dissertation]. Stanford: Stanford University; 1968. [Link]
2. Chirikjian GS. A binary paradigm for robotic manipulators. The International Conference on Robotics and Automation, 1994 May 8-13, San Diego, USA. Piscataway: Institute of Electrical and Electronics Engineers; 1994. pp. 3063-3070. [Link]
3. Motahari A, Zohoor H, Habibnejad Korayem M. A new inverse kinematic algorithm for discretely actuated hyper-redundant manipulators. Latin American Applied Research. 2013;43(2):161-168. [Link]
4. Motahari A, Zohoor H, Habibnejad Korayem M. Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators. Robotica. 2013;31(7):1073-1084. [Link] [DOI:10.1017/S0263574713000337]
5. Motahari A, Zohoor H, Habibnejad Korayem M. A new obstacle avoidance method for discretely actuated hyper-redundant manipulators. Scientia Iranica. 2012;19(4):1081-1091. [Link] [DOI:10.1016/j.scient.2012.06.017]
6. Motahari A, Zohoor H, Habibnejad Korayem M. A new motion planning method for discretely actuated hyper-redundant manipulators. Robotica. 2017;35(1):101-118. [Link] [DOI:10.1017/S0263574714002963]
7. Ebert-Uphoff IR. On the development of discretely-actuated hybrid-serial-parallel manipulators [Dissertation]. Baltimore: Johns Hopkins University; 1997. [Link]
8. Suthakorn J, Chirikjian GS. A new inverse kinematics algorithm for binary manipulators with many actuators. Advanced Robotics. 2001;15(2):225-244. [Link] [DOI:10.1163/15685530152116245]
9. Suthakorn J. Paradigms for service robotics [Dissertation]. Baltimore: Johns Hopkins University; 2003. [Link]
10. Sujan VA, Lichter MD, Dubowsky S. Lightweight hyper-redundant binary elements for planetary exploration robots. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 2001 July 8-12, Como, Italy. Piscataway: Institute of Electrical and Electronics Engineers; 2001. [Link]
11. Tzorakoleftherakis E, Mavrommati A, Tzes A. Design and implementation of a binary redundant manipulator with cascaded modules. Journal of Mechanisms and Robotics. 2016;8(1):011002. [Link] [DOI:10.1115/1.4030372]
12. Tappe S, Boyraz P, Korz H, Ortmaier T. Design, production and integration of a shape sensing robotic sleeve for a hyper-redundant, binary actuated robot. 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018 July 9-12, Auckland, New Zealand. Piscataway: Institute of Electrical and Electronics Engineers; 2018. [Link] [DOI:10.1109/AIM.2018.8452710]
Send email to the article author
| Rights and permissions | |
 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |