HYPER-REDUNDANT ROBOT

HYPER-REDUNDANT ROBOT

1. CHARACTERISTICS

   • Are not anthropomorphic
   • Highly linkage structure
   • Maneuvering in confined spaces
   • Peristaltic waves generated
   • Grasp Objects in a Tentacle-Like Fashion

2. IMPLEMENTATION

   • 30 DOF Robot VGT
     • 10 Identical 3 DOF Truss Modules
       • 3 Prismatic Joints
         • D.C. Servo Motors and Lead Screw Drives
         • Linear Potentiometer
     • Casters Attached to the Fixed Elements of the Modules
     • can be separated into two robot manipulators 15 DOF
     • System is Controlled by an a Multiprocessing Computer
       • Heurikon 68030
     • mechanical advantage properties
     • Gregory S. Chirikjian Joel W. Burdick

3. APPLICATIONS

   • Medical Endoscopy
   • Capturing and Despinning Free Floating Satellites
   • Complex Whole Arm Manipulation Experiments
   • Emergency Response Vehicles in Collapsed Buildings
   • Sensor Placement in Complicated Geological Formations

4. DISADVANTAGES

   • Precise Positioning Tasks
   • Not Provide Backbone Torque

5. MORPHOLOGY

   • Continuous Morphology
     • Deformable Continuous
   • Discrete Morphology
     • Rigid Links
   • Cascades of Parallel Platform Modules
     • Variable Geometry Trusses (VGT)

6. UNIVERSIDAD MANUELA BELTRÁN ING. ELECTRÓNICA

   • JOHANN ANDRÉS ARGÜELLO CRUZ ROBÓTICA INDUSTRIAL

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