Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments [PDF]
Sensors, 2022 Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and ...
Rami Al-Khulaidi +3 more
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A Mixed-Reality-Based Unknown Space Navigation Method of a Flexible Manipulator [PDF]
Sensors, 2023 A hyper-redundant flexible manipulator is characterized by high degree(s) of freedom (DoF), flexibility, and environmental adaptability. It has been used for missions in complex and unknown spaces, such as debris rescue and pipeline inspection, where the
Ronghui Chen +5 more
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Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery [PDF]
Micromachines, 2023 A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of ...
Donatella Dragone +8 more
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Real Time Optimum Trajectory Generation for Redundant/Hyper-Redundant Serial Industrial Manipulators
International Journal of Advanced Robotic Systems, 2017 This article presents an optimization technique to develop minimum energy consumption trajectories for redundant/hyper-redundant manipulators with predefined kinematic and dynamic constraints.
Ahmet Dumlu +2 more
exaly +2 more sources
Design and Experimental Validation of Pipeline Defect Detection in Low-Illumination Environments Based on Bionic Visual Perception [PDF]
BiomimeticsDetecting internal defects in narrow and curved pipelines remains a significant challenge, due to the difficulty of achieving reliable defect perception under low-light conditions and generating collision-free motion trajectories.
Xuan Xiao +5 more
doaj +2 more sources
Position control for hybrid infinite-continuous hyper-redundant robot [PDF]
MATEC Web of Conferences, 2021 This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed.
Pană Cristina +7 more
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Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables [PDF]
Mechanical Sciences, 2021 The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint ...
L. Zhang +4 more
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Path planning of hyper‐redundant manipulators for narrow spaces
IET Cyber-systems and Robotics, 2022 Compared with the traditional manipulator, the hyper‐redundant manipulator has the advantage of high flexibility, which is particularly suitable for all kinds of complex working environments.
Haoxiang Su +5 more
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Discrete (Two-State) Modular Hyper-Redundant Planar Manipulator
Computer Assisted Methods in Engineering and Science, 2022 This paper presents a concept of an extremely simple planar manipulator composed of 24 congruent modules. Each module has only two possible discrete positions in relation to the previous module: left (-π/6) or right (π/6).
Ela Zawidzka, Machi Zawidzki
doaj +1 more source
Applied Sciences, 2022 An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper.
Okan Minnetoglu, Erdinc Sahin Conkur
doaj +1 more source