Abstract
Hyper redundant manipulators are robotic arms with many degrees of freedom. This allows them to navigate through a changing environment filled with objects. In this paper a new design for a hyper redundant manipulator is proposed. It makes use of underactuation and compliance to solve two problems, the path planning of the manipulator and the friction in the system. The proposed design consists of five segments. Each segment is a compliant cross axis flexure joint with four flexures. The proposed design is compared with a hyper redundant manipulator that also includes underactuation but is not compliant. It was found that compliance increases the range of motion and decreases the bending stiffness of the total manipulator while decreasing the lateral stiffness.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bakker, D. L., Matsuura, D., Takeda, Y., & Herder, J.L. (2015). Design of an environmentally interactive continuum manipulator. In 14th World Congress in Mechanism and Machine Science IFToMM2015, Taipei, Taiwan.
Brian, D. J., & Howell, L. L. (2002). The modeling of cross-axis flexural pivots. Mechanism and Machine Theory, 37(5), 461–476.
Buckingham, R., & Graham, A. (2003). Reaching the unreachable—Snake arm robots. In International Symposium of robotics. http://www.ocrobotics.com/downloads/ISR03.pdf.
Chen, G., Zhang, S., & Li, G. (2013). Multistable behaviors of compliant sarrus mechanisms. Journal of Mechanisms and Robotics, 5(2), 021005.
Davies, J. B. C., Lane, D. M., Robinson, G. C., O’Brien, D. J., Pickett, M., Sfakiotakis, M., Deacon, B. (1998). Subsea applications of continuum robots. In Proceedings of 1998 International Symposium on Underwater Technology (pp. 363–369). doi:10.1109/UT.1998.670127.
Gregory, S. C. (1992). Theory and Applications of Hyper-Redundant Robotic Manipulators.
Howell, L. L. (2001). Compliant Mechanisms. Wiley.
Jones, B. A., & Walker, I. D. (2006). Kinematics for multisection continuum robots. IEEE Transactions on Robotics, 22(1), 43–55. doi:10.1109/TRO.2005.861458. ISSN: 15523098.
Lobontiu, N. (2002). Compliant Mechanisms: Design of Flexure Hinges. CRC Press.
Machekposhti, F., Tolou, N., & Herder, J. L. (2012). The scope for a compliant homokinetic coupling based on review of compliant joints and rigid-body constant velocity universal joints. In Proceedings of the ASME 2012 IDETC/CIE Conference.
Trease, B. P., Moon, Y.-M., & Kota, S. (2005). Design of large-displacement compliant joints. Journal of mechanical design, 127(4), 788–798.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Jainandunsing, S., Herder, J.L., Takeda, Y., Matsuura, D. (2016). Design of a Compliant Environmentally Interactive Snake-Like Manipulator. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_26
Download citation
DOI: https://doi.org/10.1007/978-3-319-33714-2_26
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-33713-5
Online ISBN: 978-3-319-33714-2
eBook Packages: EngineeringEngineering (R0)