Three degrees-of-freedom joint for spatial hyper-redundant robots

Mechanism and Machine Theory

Volumn 41, Issue 2, 2006, Pages 170-190

  Shammas, Elie ^a   Wolf, Alon ^a,b,c   Choset, Howie ^b  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

^c WESTERN PENNSYLVANIA HOSPITAL   (United States)

Author keywords

Degrees of freedom; Hyper redundant robot; Kinematics; Mechanical design; Robotic joint; Snake robot

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); JOINTS (ANATOMY); KINEMATICS; MOTION CONTROL; OPTIMIZATION; ROBOTICS; ROTATION;

HYPER-REDUNDANT ROBOT; MECHANICAL DESIGN; ROBOTIC JOINT; SNAKE ROBOT;

ROBOTS;

EID: 28044454365     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2005.04.008     Document Type: Article

References (27)

1. R. Cieslak, and A. Morecki Elephant trunk type manipulator - A tool for bulk and liquid materials transportation Robotica 17 1999 11 16
2. G.S. Chirikjian, J. Burdick, Kinematics of hyper-redundant locomotion with applications to grasping, in: Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991, pp. 720-727.
3. G.S. Chirikjian, and J. Burdick Kinematically optimal hyper-redundant manipulator configurations IEEE Transactions on Robotics and Automation 11 1995 794 806
4. G.S. Chirikjian, and J. Burdick A modal approach to hyper-redundant manipulator kinematics IEEE Transactions on Robotics and Automation 10 1994 343 354
5. G.S. Chirikjian, and J. Burdick A Hyper-redundant manipulator IEEE Robotics and Automation 1 December 1994 22 29
6. H.R. Choi, S.M. Ryew, Anthropomorphic joint mechanism with two degrees-of-freedom, in: Proceedings of ICRA'00. IEEE International Conference on Robotics and Automation, 2000, vol. 2, 24-28 April 2000, pp. 1525-1530.
7. H. Choset, J. Luntz, E. Shammas, T. Rached, D. Hull, C. Dent, Design and motion planning for serpentine robots, in: Proceedings of the Tokyo Institute of Technology Super Mechano Systems Workshop, Tokyo, Japan, 2000.
8. J. Denavit, and R.S. Hartenberg Kinematic Synthesis of Linkages 1964 McGraw-Hill New York
9. G.L. Haith, H. Thomas, A. Wright, A serpentine robot for planetary and asteroid surface exploration, Oral presentation at the Fourth IAA International Conference on Low-Cost Planetary Missions, 2-5 May 2000, Laurel, MD.
10. R.F. Handschuh, Comparison of experimental and analytical tooth bending stress of aerospace spiral bevel gears, NASA/TM-1999-208903, 1999.
11. R.F. Handschuh, Testing of face-milled spiral bevel gears at high-speed and load, NASA/TM-2001-210743, 2001.
12. R.F. Handschuh, Experimental comparison of face-milled and face-hobbed spiral bevel gears, NASA/TM-2001-210940, 2001.
13. M.A. Hannan, I.D. Walker. A novel "Elephant's Trunk" robot, in: Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, Georgia, September 1999, pp. 410-415.
14. S. Hirose Biologically Inspired Robots: Snake-like Locomotors and Manipulators 1993 Oxford University Press
15. H. Ikeda, N. Takanashi, Joint assembly movable like a human arm, US Patent 4 683 406, July 1987.
16. G. Immega, and K. Antonelli The KSI tentacle manipulator IEEE Conference on Robotics and Automation 1995 3149 3154
17. W.M. Kier, and K.K. Smith Tongues, Tentacles, and Trunk: The biomechanics of movement in muscular hydrostat Zoological Journal of the Linnean Society 8 1985 307 324
18. G. Miller, Goal-directed snake motion over uneven terrain, in: Computer Graphics'89, Blenheim Online Publications, November 1989, pp. 257-272.
19. E. Paljug, T. Ohm, S. Hayati, The JPL serpentine robot: a 12-DOF system for inspection, in: Proceedings of the 1995 IEEE/ICRA, vol. 3, 1995, pp. 3143-3148.
20. M.E. Rosheim Robot Wrist Actuators 1989 John-Wiley & Sons
21. L. Sciavicco, and B. Siciliano Modelling and control of robot manipulators second ed. Advanced Textbooks in Control and Signal Processing Series 2000 Springer-Verlag London, UK
22. E. Shammas, A. Wolf, H.B. Brown, H. Choset, New joint design for three-dimensional hyper redundant robots, in: Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 (IROS 2003), vol. 4, 27-31 October 2003, pp. 3594-3599.
23. T. Stackhouse, A new concept in wrist flexibility, in: Proceedings of the 9th International Symposium on Industrial Robots, Washington, DC, 1979, pp. 589-599.
24. N. Takanashi, K. Aoki, S. Yashima, A gait control for the hyper-redundant robot O-RO-CHI, in: Proceedings of ROBOMEC'96, Ube, Japan, 1996, pp. 79-80.
25. A. Wolf, H.B. Brown, R. Casciola, A. Costa, M. Schwerin, E. Shammas, H. Choset, A mobile hyper redundant mechanism for search and rescue tasks, in: Proceedings. 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 (IROS 2003), vol. 3, 27-31 October 2003, pp. 2889-2895.
26. C.H. Wu A kinematic CAD tool for the design and control of a robot manipulator The International Journal of Robotics Research 3 1 1984 58 67
27. M. Yim, Locomotion with a Unit Modular Reconfigurable Robot, Ph.D. Thesis, Dept. of Mech. Eng., Stanford University, 1994.