(H7)Motion Control of a Hyper Redundant Robot Composed of Many Units with a Few DOF

By serially combining many units composed of a parallel mechanism with a few degrees-of-freedom, a new type hybrid manipulator which can generate flexible motions with high power will be developed. For this purpose, we have proposed a hybrid manipulator composed of a parallel mechanism with three linearactuators and have established the direct/inverse kinematics. A prototype composed of three units was experimentally examined to achieve CP-control.
*We have collaborated with Mr. Kouji Kondoh, Fukui Prefectural Industrial Center for this research.
Fig.1 Fig.2
Direct Kinematics of a Manipulator Composed of Ten Units CP-Control Experiment of a Prototype Composed of Three Units

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