Design and control of variable length hyper redundant robot
This paper puts forward a design concept of Variable length Hyper-redundant robot, consisting of eight links and their encloser system. Each of the rigid links is connected via actuated revolute joints in a chain. The robot will operate on the principle that one by one link will be coming out of th...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2012
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/27193/1/annisa.pdf |
| _version_ | 1825646964633501696 |
|---|---|
| author | Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser |
| author_facet | Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser |
| author_sort | Jamali, Annisa |
| collection | IIUM |
| description | This paper puts forward a design concept of Variable length Hyper-redundant robot, consisting of eight links and their
encloser system. Each of the rigid links is connected via actuated revolute joints in a chain. The robot will operate on the principle that one by one link will be coming out of the housing and moving towards the desired position. The robot can be a practical and cost saving approach in complex and unstructured area. In one particular operation, the variable length Hyper-redundant robot can provide shorter trail and shorter time as well compared to fixed number of links. The basic robotics analyses, dynamics simulation and experiment are also shown. The prototype developed is used as a proof of the concept. |
| first_indexed | 2024-03-05T23:10:32Z |
| format | Article |
| id | oai:generic.eprints.org:27193 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-13T19:02:45Z |
| publishDate | 2012 |
| publisher | Elsevier |
| record_format | dspace |
| spelling | oai:generic.eprints.org:271932012-11-30T06:35:06Z http://irep.iium.edu.my/27193/ Design and control of variable length hyper redundant robot Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser T Technology (General) This paper puts forward a design concept of Variable length Hyper-redundant robot, consisting of eight links and their encloser system. Each of the rigid links is connected via actuated revolute joints in a chain. The robot will operate on the principle that one by one link will be coming out of the housing and moving towards the desired position. The robot can be a practical and cost saving approach in complex and unstructured area. In one particular operation, the variable length Hyper-redundant robot can provide shorter trail and shorter time as well compared to fixed number of links. The basic robotics analyses, dynamics simulation and experiment are also shown. The prototype developed is used as a proof of the concept. Elsevier 2012-10 Article PeerReviewed application/pdf en http://irep.iium.edu.my/27193/1/annisa.pdf Jamali, Annisa and Khan, Md. Raisuddin and Rahman, Md. Mozasser (2012) Design and control of variable length hyper redundant robot. Procedia Engineering, 41 (2012). 1105- 1113. ISSN 1877-7058 http://www.sciencedirect.com/science/article/pii/S1877705812026896 |
| spellingShingle | T Technology (General) Jamali, Annisa Khan, Md. Raisuddin Rahman, Md. Mozasser Design and control of variable length hyper redundant robot |
| title | Design and control of variable length hyper redundant robot |
| title_full | Design and control of variable length hyper redundant robot |
| title_fullStr | Design and control of variable length hyper redundant robot |
| title_full_unstemmed | Design and control of variable length hyper redundant robot |
| title_short | Design and control of variable length hyper redundant robot |
| title_sort | design and control of variable length hyper redundant robot |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/27193/1/annisa.pdf |
| work_keys_str_mv | AT jamaliannisa designandcontrolofvariablelengthhyperredundantrobot AT khanmdraisuddin designandcontrolofvariablelengthhyperredundantrobot AT rahmanmdmozasser designandcontrolofvariablelengthhyperredundantrobot |