A modified modal method for solving the mission-oriented inverse kinematics of hyper-redundant space manipulators for on-orbit servicing
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.06.015
Abstract: Abstract A hyper-redundant space manipulator has extreme flexibility and is suitable to work in highly cluttered or multi-obstacles environment. However, its inverse kinematics is very challenging due to a large number of degrees of freedom… read more here.
Keywords: inverse kinematics; redundant space; kinematics; manipulator ... See more keywords
An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant’s trunk robot
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s026357472200039x
Abstract: Abstract This paper proposes an iterative algorithm to solve the inverse displacement for a hyper-redundant elephant’s trunk robot (HRETR). In this algorithm, each parallel module is regarded as a geometric line segment and point model.… read more here.
Keywords: hyper redundant; displacement; iterative algorithm; redundant elephant ... See more keywords
Sigmoidal Auxiliary Tendon-Driven Mechanism Reinforcing Structural Stiffness of Hyper-Redundant Manipulator for Endoscopic Surgery.
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DOI: 10.1089/soro.2021.0148
Abstract: The overtube of an endoscopic surgery robot is fixed when performing tasks, unlike those of commercial endoscopes, and this overtube should have high structural stiffness after reaching the target lesion so that sufficient tension can… read more here.
Keywords: hyper redundant; stiffness; structural stiffness; endoscopic surgery ... See more keywords
Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2022.3217746
Abstract: In this article, we review the state of the art in hyper-redundant manipulators for applications in confined space such as on-orbit services. With their multiple degrees of freedom and slender links, hyper-redundant manipulators can offer… read more here.
Keywords: applications key; hyper redundant; typical applications; redundant manipulators ... See more keywords
A gravitational torque-compensated 2-DOF planar robotic arm design and its active control
Sign Up to like & getrecommendations! Published in 2021 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/09544062211009555
Abstract: Serial robot manipulators have their servo motors with reduction gears on the link joints. When it comes to hyper-redundant robots, this kind of joint actuation mechanism cannot be implemented since this makes hyper-redundant robots too… read more here.
Keywords: hyper redundant; gravitational torque; control; robotic arm ... See more keywords