Title

The kinematics of modular spatial hpyer-redundant manipulators formed from RPS-type limbs

Document Type

Journal Article

Publication Details

Gallardo, J., Lesso, R., Rico, J. M. Alici, G. (2011). The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs. Robotics and Autonomous systems, 59 (1), 12-21.

Abstract

This study addresses the kinematics, including position, velocity and acceleration analyses, of a modular spatial hyper-redundant manipulator built with a variable number of serially connected identical mechanical modules with autonomous motions. First, the kinematics of the base module, a three-legged in-parallel manipulator, is formulated using the theory of screws. After that, the results thus obtained, are applied recursively for accomplishing the kinematic analyses of the hyper-redundant manipulator at hand. A numerical exampled is included.

RIS ID

38808

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Link to publisher version (DOI)

http://dx.doi.org/10.1016/j.robot.2010.09.005