Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.
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e-mail: odeds@technion.ac.il
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November 2012
Design Innovation Paper
Inclined Links Hyper-Redundant Elephant Trunk-Like Robot
Oded Salomon,
e-mail: odeds@technion.ac.il
Oded Salomon
Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T.
, Haifa 32000, Israel
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Alon Wolf
e-mail: alonw@technion.ac.il
Alon Wolf
Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T.
, Haifa 32000, Israel
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Oded Salomon
Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T.
, Haifa 32000, Israel
e-mail: odeds@technion.ac.il
Alon Wolf
Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T.
, Haifa 32000, Israel
e-mail: alonw@technion.ac.il
J. Mechanisms Robotics. Nov 2012, 4(4): 045001 (6 pages)
Published Online: August 10, 2012
Article history
Received:
June 9, 2011
Revised:
December 20, 2011
Online:
August 10, 2012
Published:
August 10, 2012
Citation
Salomon, O., and Wolf, A. (August 10, 2012). "Inclined Links Hyper-Redundant Elephant Trunk-Like Robot." ASME. J. Mechanisms Robotics. November 2012; 4(4): 045001. https://doi.org/10.1115/1.4007203
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