Hyper Redundant Manipulator with Compound three Closed Linkage Mechanism

本文提出了一种具有一对闭合三杆机构的超冗余机械手机构。该单元包括一个主动驱动关节、一个被动旋转关节和一个滑块。该机构的特性总结如下：(1)由于连杆机构是封闭的，因此具有较高的机械刚度。(2)末端的运动主要由位于机械手远端位置的作动器控制。2001年提出了该机构运动学和动力学分析的数学方法，并实际应用于该机构，设计了具有四个DOR的原型模型。在此基础上，建立了模型1。2002年，模型1组装完成。开发了电机驱动单元和控制软件。最后进行了控制实验，验证了模型1可以采用传统的PID控制进行控制。除了开发原型模型外，还进行了仿真分析，以找到更复杂的连杆和自由度配置。结果表明，8自由度模型适用于大范围的末端运动。根据这一分析，作者现在计划从2003年开始开发第二种模型。

In this study the authors propose a mechanism of hyper redundant manipulator, which has a couple of closed three bar- linkage mechanisms. One unit comprises one actively driven joint, passively rotated joint and one slider. The properties of this mechanism are summarized as follows,(1) High mechanical stiffness is expected due to the closed linkage.(2) The motion of the endpoint is dominantly governed by the actuators located distal position of manipulator.In 2001 the mathematical method of kinematical and dynamical analysis in terms of this mechanism has been proposed and actually applied to this mechanism to design the prototype model having four DOR.Based on this analysis the model one has been developed.In 2002, the model one was assembled. The motor driver unit and control software were developed. The control experiment was achieved and it elucidated that the model one was able to control using the conventional PID control. In addition to develop the prototype model, the simulation analysis has been pursued to find more sophisticated link and DOF configuration. As a result the authors found that 8 DOF model is suitable for wide range of motion of the end point. According to this analysis the authors are now planning to develop the second model from 2003.