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A continuum approach to hyper-redundant manipulator dynamics
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002Hyper-redundant, or snakelike, manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees of ...
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A worm-inspired new spatial hyper-redundant manipulator
Robotica, 2010SUMMARYIn this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws.
Jaime Gallardo-Alvarado +2 more
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Construction of a Hyper Redundant Robotic Tentacle Manipulator
2012Abstract : This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search.
Derek Scherer, Miles C. Pekala
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Robotica (Cambridge. Print), 2019
Summary Due to a large number of redundant degrees of freedom (DOFs), the hyper-redundant manipulator shows outstanding dexterity and adaptability in avoiding the obstacles in confined space.
Zonggao Mu +4 more
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Summary Due to a large number of redundant degrees of freedom (DOFs), the hyper-redundant manipulator shows outstanding dexterity and adaptability in avoiding the obstacles in confined space.
Zonggao Mu +4 more
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Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators
Robotica, 2013SUMMARYDiscrete kinematic synthesis of discretely actuated hyper-redundant manipulators is a new practical problem in robotics. The problem concerns with determining the type of each manipulator module from among several specific types, so that the manipulator could reach several specified target frames with the lowest error.
Alireza Motahari +2 more
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Wrench Capability of Hyper-redundant Planar Parallel Manipulators
2020In this paper a procedure to obtain the wrench capability in three hyper-redundant manipulators with 7, 8 and 9 Degrees of Freedom is presented. The studied manipulators are a \(7\underline{R}RR\) manipulator, a \(8\underline{R}RR\) manipulator and a \(9\underline{R}RR\) manipulator.
Leonardo Mejia +3 more
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On the Dynamical Control of Hyper Redundant Manipulators
2004The control problem of the spatial tentacle manipulator is presented. The difficulties determined by the complexity of the nonlinear integral — differential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced by using only the relations that determine the energy stored in the system ...
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Hyper redundant manipulator using compound three-bar linkages
Journal of Mechanical Science and Technology, 2005A 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 ,"verse ...
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Theory and Applications of Hyper-Redundant Robotic Manipulators
1992The term "hyper-redundant" refers to robotic manipulators and mobile robots with a very large, possibly infinite, number of actuatable degrees of freedom. These robots are analogous in morphology and operation to snakes, worms, elephant trunks, and tentacles.
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Structural Optimisation of a Cable-Driven Hyper-Redundant Manipulator*
2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)Optimising manipulators for a high payload-to-weight ratio enables them to carry heavier loads while maintaining agility and ease of movement in confined spaces. This paper offers a methodological approach for the structural optimisation of an eight-degree-of-freedom, fully actuated, cable-driven hyper-redundant manipulator.
Poka, Ardit +6 more
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