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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
doaj +3 more sources
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
doaj +2 more sources
A hyper-redundant manipulator [PDF]
IEEE Robotics & Automation Magazine, 1994 “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform ...
Chirikjian, Gregory S., Burdick, Joel W.
core +3 more sources
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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Kinematically optimal hyper-redundant manipulator configurations [PDF]
Proceedings 1992 IEEE International Conference on Robotics and Automation, 1995 “Hyper-redundant” robots have a very large or infinite degree of kinematic redundancy. This paper develops new methods for determining “optimal” hyper-redundant manipulator configurations based on a continuum formulation of kinematics.
Chirikjian, Gregory S., Burdick, Joel W.
core +5 more sources
IEEE Access, 2020 This paper presents an adaptive caging configuration design algorithm of the hyper-redundant manipulator for dysfunctional satellite pre-capture. Taking advantages of the extreme flexibility and hyper-redundancy, the hyper-redundant manipulator wraps its
Wenya Wan, Chong Sun, Jianping Yuan
exaly +3 more sources
Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks [PDF]
Sensors, 2020 Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work
Andrés Martín-Barrio +4 more
doaj +2 more sources
A modal approach to hyper-redundant manipulator kinematics [PDF]
IEEE Transactions on Robotics and Automation, 1994 This paper presents novel and efficient kinematic modeling techniques for “hyper-redundant” robots. This approach is based on a “backbone curve” that captures the robot's macroscopic geometric features.
Chirikjian, Gregory S., Burdick, Joel W.
core +3 more sources
The position control of a spatial binary hyper redundant manipulator through its inverse kinematics
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013 This article is about the position control of a binary hyper redundant manipulator, which is driven by pneumatic on-off actuators. The end platform of the binary hyper redundant manipulator bears a small fine tuning manipulator, which is a continuously ...
Atilla Bayram, M Kemal Ozgoren
exaly +2 more sources
Applied Sciences (Switzerland), 2022 Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use of robotic systems to accomplish such tasks has deep implications in terms of safety for human workers and can ...
Carlo Canali +2 more
exaly +3 more sources