Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

被引：63
作者：
Gallardo-Alvarado, J. [1 ]
Aguilar-Najera, C. R. [1 ]
Casique-Rosas, L. [1 ]
Perez-Gonzalez, L. [1 ]
Rico-Martinez, J. M. [2 ]
机构：
[1] Inst Tecnol Celaya, Dept Mech Engn, Celaya 38010, Gto, Mexico
[2] Univ Guanajuato, FIMEE, Salamanca 36730, Gto, Mexico
来源：
MULTIBODY SYSTEM DYNAMICS | 2008年 / 20卷 / 04期
关键词：
hyper-redundant manipulator; modularity; driving force; screw theory; forward dynamics;
D O I：
10.1007/s11044-008-9121-7
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this contribution, a systematic methodology for solving the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented. First, the kinematics and dynamics of the base module are carried out using the theory of screws and the principle of virtual work. Next, the expressions obtained for the base module are extended without significant effort to the spatial hyper-redundant manipulator under study. Finally, the proposed methodology of analysis is applied to a 18 degrees of freedom hyper-redundant manipulator.
引用
收藏
页码：307 / 325
页数：19
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