Design of hyper redundant robot using ball screw mechanism approach

Author

Bayani, Salar ; Rastegari, Rambod ; Samavati, Farzad Cheraghpour

Author_Institution

Mechatron. Res. Lab., Islamic Azad Univ., Qazvin, Iran

fYear

2015

fDate

7-11 July 2015

Firstpage

1271

Lastpage

1276

Abstract

Hyper redundant robots are highly used in inaccessible environments. This capability is due to the numerous degrees of freedom (DOFs) of this structure. Using cables and tendons, pneumatic and hydraulic actuators, based on the flexible backbone, are the solutions to build these kind of robots. In this paper, new approach that using ball screw mechanism is provided. The designed approach is the novel combination of serial base and parallel structured actuators. The proposed robot has 12 DOFs in 6 sections. Each section actuated by 2 cylinders that moving by ball screw mechanism. The modeling of robot generated in SOLIDWORKS and simulated in ADAMS software. In all steps, the relationships work in a modular mode, that are more generalized to have 2N degrees of freedom.

Keywords

ball screws; hydraulic actuators; pneumatic actuators; redundant manipulators; ADAMS software; DOF; SOLIDWORKS; ball screw mechanism; cables; degrees of freedom; flexible backbone; hydraulic actuators; hyper redundant robot design; inaccessible environments; manipulator; parallel structured actuators; pneumatic actuators; robot modeling; serial base actuators; tendons; Actuators; Fasteners; Joints; Parallel robots; Pneumatic systems; Shafts; Manipulator; ball screw; hyper redundant; mechanism; modeling; simulation;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2015 IEEE International Conference on

Conference_Location

Busan

Type

conf

DOI

10.1109/AIM.2015.7222713

Filename

7222713