An Analytical and Experimental Study of Hyper-Redundant Mechanisms

该研究包括分析和实验研究， 超冗余机制 定义了超冗余机制 作为具有大量或无限数量的 自由度，类似于蛇，象鼻， 这些设备具有潜在的应用， 机器人操作和运动，以及许多其他非 机器人应用，如铰接空间结构，医疗 内窥镜和类似鞭毛的液体推进器 这 调查重点是基本的几何，运动学，动力学和 与超冗余机制有关的控制问题。 的 分析阶段侧重于基于微分几何的方法 运动学分析和几何控制的这类 机制等 在实验阶段， 设备将在硬件和算法中实现， 理论研究将得到验证。

The research comprises an analytical and experimental study of hyper-redundant mechanisms. Hyper-redundant mechanisms are defined as highly articulated devices with a large or infinite number of degrees of freedom, and are analogous to snakes, elephant trunks, tentacles, etc. These devices have potential applications in robotic manipulation and locomotion, as well as many other non robotics applications such as articulated space structures, medical endoscopes, and flagellum like fluid propulsion. This investigation focuses on basic geometric, kinematic, dynamic and control issues related to hyper-redundant mechanisms. The analytical phase focuses on a differential geometry based approach to the kinematic analysis and geometric control of this class of mechanisms. In the experimental phase, a planar hyper-redundant device will be implemented in hardware and algorithms developed in the theoretical study will be tested and verified.