Discrete (two-state) modular hyper-redundant planar manipulator

• Autorzy: Zawidzka Ela , Zawidzki Machi

Identyfikatory

DOI

10.24423/cames.550

• Języki publikacji: EN

Abstrakty

EN

This paper presents a concept of an extremely simple planar manipulator composed of 24 congruent modules. Each module has only two possible discrete positions in relation to the previous module: left (-π/6) or right (π/6). However, despite its conceptual simplicity, this manipulator can perform relatively demanding tasks, for example as an inspection device. The manipulator is placed in an experimental environment, and the goal is to place its tip in close proximity to five given points without collisions. Despite the constraints of its motion, the manipulator effectively “crawls” inside the working space and visits assigned points. The control of the manipulator is executed by manual placing to desired configurations and interpolating the intermediate transitions. The preliminary results are promising and show that for certain practical types of tasks, the functionality and precision of this extremely simple manipulator could be sufficient, e.g., visual inspection, provision of survival supplies, placing of explosives, etc.

Słowa kluczowe

EN

discrete manipulator; hyper-redundant; snake robot; modular

PL

manipulator; hiper-redundantny; robot wąż; modułowy

• Wydawca: Instytut Podstawowych Problemów Techniki PAN
• Czasopismo: Computer Assisted Methods in Engineering and Science
• Rocznik: 2022
• Tom: Vol. 29, no. 4
• Strony: 397--407
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Zawidzka Ela

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland

autor

Zawidzki Machi

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw, Poland

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).