Design Innovation Papers

Inclined Links Hyper-Redundant Elephant Trunk-Like Robot

[+] Author and Article Information
Oded Salomon

 Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T., Haifa 32000, Israelodeds@technion.ac.il

Alon Wolf

 Biorobotics and Biomechanics Lab, Faculty of Mechanical Engineering, Technion-I.I.T., Haifa 32000, Israelalonw@technion.ac.il

J. Mechanisms Robotics 4(4), 045001 (Aug 10, 2012) (6 pages) doi:10.1115/1.4007203 History: Received June 09, 2011; Revised December 20, 2011; Published August 10, 2012; Online August 10, 2012

Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

(a) Full model of the 16DOF arm, (b) a single link universal-joint backbone, and (c) cylindrical cover

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Figure 2

(a) Exploded view of a link and (b) link bent at 22.5 deg

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Figure 3

Cylinder components

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Figure 4

Base of a link and gear assembly

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Figure 5

(a) Controller assembly in a groove at the back of the base, (b) physical model, and (c) PWB layout

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Figure 7

Working model: (a) two noninclined links, (b) two inclined links, and (c) full assembled arm

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Figure 8

Static self load of the mechanism for maximal torque calculation

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Figure 9

Motor torque is friction dependent

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Figure 10

Kinematics scheme

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Figure 11

Bending angles versus rotation angle

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Figure 12

Direction and magnitude of inclination: (a) direction 0 deg, maximum magnitude. (b) Direction 90 deg, maximum magnitude. (c) Direction 0 deg, smaller magnitude.

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Figure 13

Changing the direction of inclination at full inclination β2  = β1  + 180

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Figure 14

Changing inclination magnitude in a constant direction β2  + β1  = 0



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