The conceptual design of a spatial binary hyper redundant manipulator and its forward kinematics

Date

2012-01-01

Author

Bayram, Atilla
Özgören, Mustafa Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

186
views

0
downloads

The hyper redundant manipulators (HRMs) have excessively many degrees of freedom. As a special but practicable subset of them, the binary hyper-redundant manipulators (BHRMs) use binary (on-off) actuators with only two stable states such as pneumatic cylinders and/or solenoids. This article describes the conceptual design of a spatial BHRM together with its forward kinematics. This BHRM consists of many modules with the same constructive characteristics. The modules increase in size from the tip to the base so that the actuator powers also increase in the same order. Each module consists of three submodules. The first and second submodules have the shapes of variable geometry trusses and they work in mutually orthogonal planes. The third submodule is a discrete twister. The manipulator is assumed to be driven by pneumatic on-off actuators. Because of the discrete nature of the on-off actuators, a small but continuously actuated six-joint manipulator is installed as the last module of the BHRM in order to compensate the discretization errors.

Subject Keywords

Hyper redundant manipulators, Binary hyper-redundant manipulators, Variable geometry trusses, Forward kinematics of hyper-redundant manipulators

URI

https://hdl.handle.net/11511/31328

Journal

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE

DOI

https://doi.org/10.1177/0954406211412156

Collections

Graduate School of Natural and Applied Sciences, Article

Suggestions

OpenMETU
Core

The position control of a spatial binary hyper redundant manipulator through its inverse kinematics Bayram, Atilla; Özgören, Mustafa Kemal (2013-01-01) This article is about the position control of a binary hyper redundant manipulator, which is driven by pneumatic on-off actuators. The end platform of the binary hyper redundant manipulator bears a small fine tuning manipulator, which is a continuously actuated six-joint manipulator attached as a versatile error-compensation tool. It is employed to compensate especially the discretization errors. The position control aims to make the end-effector of the fine tuning manipulator track a specified sequence of ...
Modeling and control of a hyper redundant manipulator Bayram, Atilla; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2010) The hyper redundant manipulators (HRMs) have excessively large degrees of freedom. As a special but practicable subset, the binary HRMs use binary (on-off) actuators with only two stable states such as pneumatic cylinders and solenoids. Such actuators are simple, cheap, and easy to control. Therefore, a binary HRM has been studied in this thesis. The thesis work covers the conceptual design of a spatial binary HRM together with its controlled motion simulations. The manipulator consists of many modules, eac...
A switching inverse dynamics controller for parallel manipulators around drive singular configurations Ozdemir, Mustafa; İDER, SITKI KEMAL (2016-01-01) Despite many advantages, parallel manipulators are known to possess drive singularities where the control of one or more degrees of freedom is lost. Around these singular configurations, the required actuator forces grow unbounded. Previous efforts in the literature put forward singularity-consistent trajectory planning and singularity robust modification of the dynamic equations as a solution to this problem. However, this previous method is applicable only for the open-loop operation of the manipulator, w...
Topological analysis of 6-joint serial manipulators and their inverse kinematic solutions Özgören, Mustafa Kemal (2002-05-01) The 6-joint serial manipulators are thoroughly investigated from the viewpoint of their inverse kinematic solutions. To do this systematically, the manipulators are classified according to their joint arrangements and two topological concepts are introduced as type number and conjugacy. The conditions of validity are stated and the valid manipulators are further classified into four groups according to their type numbers as type-3, type-4, type-5, and type-6. The concept of conjugacy leads to a reduction in...
Optimal redundancy resolution for kinematically redundant parallel manipulators Tunç, Tansel Sıtkı; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2014) In this study, the redundancy resolution of kinematically redundant parallel manipulators has been investigated as an optimization problem. The emerging optimization problem has been solved globally using a hybrid genetic algorithm. This algorithm has been applied as an example to a planar parallel manipulator which has four degrees of freedom. It has been assumed that the manipulator is used so that only the tip point of its end-effector is controlled. Therefore, the rotation angle of the end effector has ...

Citation Formats

A. Bayram and M. K. Özgören, “The conceptual design of a spatial binary hyper redundant manipulator and its forward kinematics,” PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, pp. 217–227, 2012, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31328.