NDLI: Hyper redundant manipulator using compound three-bar linkages

Content Provider	Springer Nature Link
Author	Koganezawa, Koichi
Copyright Year	2005
Abstract	A new mechanism for hyper redundant manipulator (HRM)is presented, which comprises of serially assembled compound three-bar linkages (CTL) The CTL mechanism has some unique properties This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units The recursive algorithm of the inverse kinematics that the author originally developed is employed It is fast and stable, moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints It also presents the method of the dynamical analysis There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed The mechanical structure of the HRM having some CTL units that is under construction is shown
Starting Page	320
Ending Page	327
Page Count	8
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	19
Issue Number	1
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2005-01-01
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Hyper-Redundant Manipulator Inverse Kinematics Constraint Stabilization Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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