Design of Hyper Redundant Robot using Ball screw Mechanism Approach

被引：0

作者：

Bayani, Salar ^{[1
]}

Rastegari, Rambod ^{[2
]}

Samavati, Farzad Cheraghpour ^{[3
]}

机构：

[1] Islamic Azad Univ, Qazvin Branch, Mechatron Res Lab, Qazvin, Iran

[2] Islamic Azad Univ, Parand Branch, Dept Mech Engn, Tehran, Iran

[3] Islamic Azad Univ, Pardis Branch, Dept Mech Engn, Tehran, Iran

来源：

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2015年

关键词：

Manipulator; hyper redundant; ball screw; simulation; modeling; mechanism;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Hyper redundant robots are highly used in inaccessible environments. This capability is due to the numerous degrees of freedom (DOFs) of this structure. Using cables and tendons, pneumatic and hydraulic actuators, based on the flexible backbone, are the solutions to build these kind of robots. In this paper, new approach that using ball screw mechanism is provided. The designed approach is the novel combination of serial base and parallel structured actuators. The proposed robot has 12 DOFs in 6 sections. Each section actuated by 2 cylinders that moving by ball screw mechanism. The modeling of robot generated in SOLIDWORKS and simulated in ADAMS software. In all steps, the relationships work in a modular mode, that are more generalized to have 2N degrees of freedom.

引用

页码：1271 / 1276

页数：6

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