Mechatronic & Innovative Applications

Design of Hybrid Hyper-Redundant Robot Manipulator

Author(s): Abdelhakim Chibani, Chawki Mahfoudi, Rochdi Merzouki and Abdelouaheb Zaatri

Pp: 204-216 (13)

DOI: 10.2174/978160805441111201010204

* (Excluding Mailing and Handling)


The hybrid hyper-redundant robots have a very large number of controlled degrees of freedom. This work presents geometric and kinematic modeling using to design an hybrid hyper-redundant robot. The modular structure studied here is considered as a very redundant mechanism that leads to complicated kinematic model. Because the mechanical architecture of the manipulator is simplified, geometric resolution of the problem is made analytically and a specific solution to the case of hybrid hyper-redundant robot formed by the stacking of parallel mechanisms is obtained. It is based on inverse kinematics of each module which the Jacobian matrix (6 x 6) represents the relationship between the speed of the end effectors (linear and angular velocities) and the active joint velocities. Finally, a case study consisting of solving geometric and kinematic analysis of an 18-degrees of freedom (DOF) hyper-redundant manipulator is presented.

Keywords: Gough-Stewart platform, parallel manipulator, hybrid robot, hyper-redundant robot, kinematic modeling.

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