| Novel Hyper-Redundant Manipulator-. Design, Study and Experiment |
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| 作者姓名： | 李彦明 马培荪 秦昌俊 曹志奎 王建滨 朱海鸿 |
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| 作者单位： | The Research Institute of Robotics，School of Mechanical Engineering，Shanghai Jiao Tong University，1954 HuashanRoad，Shanghai 200030 (P. R. China)，The Research Institute of Robotics，School of Mechanical Engineering，Shanghai Jiao Tong University，1954 HuashanRoad，Shanghai 200030 (P. R. China)，The Research Institute of Robotics，School of Mechanical Engineering，Shanghai Jiao Tong University，1954 HuashanRoad，Shanghai 200030 (P. R. China)，The Research Institute of Robotics，School of Mechanical Engineering，Shanghai Jiao Tong University，1954 HuashanRoad，Shanghai 200030 (P. R. China)，The Research Institute of Robotics，School of Mechanical Engineering，Shanghai Jiao Tong University，1954 HuashanRoad，Shanghai 200030 (P. R. China)，Intelligent Machine Dynamic Laboratory，School of Mechanical Engineering，Georgia Institute of Technology，Atlanta Georgia 300332 (USA) |
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| 摘 要： | A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.
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Novel Hyper-Redundant Manipulator: Design, Study and Experiment |
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| LI Yan-ming,MA Pei-sun,QIN Chang-jun,CAO Zhi-kui
WANG Jian-bin
The Research Institute of Robotics,School of Mechanical Engineering,Shanghai Jiao Tong University, HuashanRoad,Shanghai.Novel Hyper-Redundant Manipulator-. Design, Study and Experiment[J].Journal of Donghua University,2003,20(4). |
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| Authors: | LI Yan-ming MA Pei-sun QIN Chang-jun CAO Zhi-kui
WANG Jian-bin
The Research Institute of Robotics School of Mechanical Engineering Shanghai Jiao Tong University HuashanRoad Shanghai |
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| Affiliation: | 1. The Research Institute of Robotics,School of Mechanical Engineering,Shanghai Jiao Tong University,1954 Huashan Road,Shanghai 200030 (P.R.China)
2. Intelligent Machine Dynamic Laboratory,School of Mechanical Engineering,Georgia Institute of Technology,Atlanta Georgia 300332 (USA) |
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| Abstract: | A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box. |
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| Keywords: | hyper-redundant manipulator discrete manipulator optimize |
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