Inverse displacement analysis of a hyper-redundant bionic trunk-like robot

Yongjie Zhao,Xingwei Zhang,Xinjian Lu,Jianyuan Li,Lei Jin,Yongxing Zhang,Jun He

doi:10.1177/1729881420903223

Yongjie Zhao, Xingwei Zhang + Show 5 more

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https://doi.org/10.1177/1729881420903223

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This article presents the inverse displacement analysis of a hyper-redundant bionic trunk-like robot. The hyper-redundant bionic trunk-like robot is constituted of some parallel mechanism modules in series. The mathematical model of the inverse displacement analysis of the hyper-redundant robot comprises a set of nonlinear consistent equations with a number of unknown variables that are more than given equations. It is impossible to find all solutions for the inverse displacement analysis since there are infinite solution possibilities. By planning the pose of distal moving platforms for robot modules, the problem of the inverse displacement analysis of the hyper-redundant robot is transformed into that of a parallel mechanism. The inverse velocity and acceleration computation are then implemented using a method of the numerical differentiation. A developed prototype of a hyper-redundant bionic trunk-like robot is presented. The approach can be applied to the hyper-redundant robot with man–machine interactive system in the unstructured environment.

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Due to the flexible structure, a hyper-redundant robot can perform a complicated operation task in an unstructured environment occupying a smaller space with many obstacles
The approach can be applied to the hyper-redundant robot with man–machine interactive system in the unstructured environment, especially for the remote operation
It can be adopted to the software to implement the inverse velocity and acceleration computation for the robot

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Introduction

Due to the flexible structure, a hyper-redundant robot can perform a complicated operation task in an unstructured environment occupying a smaller space with many obstacles. This kind of robot draws much attention in academia.[1,2,3,4] There are mainly two types of robots designed to mimic motions of the elephant trunk or octopus tentacle, the continuum robot and hyper-redundant robot. There are infinite degrees of freedom (DOFs) in the continuum robot. It can bend continuously in a flexible way. Some prototypes of hyper-redundant robots have been developed for different potential applications.[16,17]

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