The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs

Authors:
Jaime Gallardo;Raúl Lesso;José M. Rico;Gürsel Alici
Affiliations:
Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y García Cubas, 38010 Celaya, Gto., Mexico;Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y García Cubas, 38010 Celaya, Gto., Mexico;FIMEE, Universidad de Guanajuato, Tampico No. 912, 36730 Salamanca, Gto., Mexico;School of Mechanical, Materials, and Mechatronic Engineering, University of Wollongong, 2522, NSW, Australia
Venue:
Robotics and Autonomous Systems
Year:
2011

Citing 3
Cited 1

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Abstract

This study addresses the kinematics, including position, velocity and acceleration analyses, of a modular spatial hyper-redundant manipulator built with a variable number of serially connected identical mechanical modules with autonomous motions. First, the kinematics of the base module, a three-legged in-parallel manipulator, is formulated using the theory of screws. After that, the results thus obtained, are applied recursively for accomplishing the kinematic analyses of the hyper-redundant manipulator at hand. A numerical exampled is included.