Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Author

Kang, Rongjie ; Kazakidi, Asimina ; Guglielmino, Emanuele ; Branson, David T. ; Tsakiris, Dimitris P. ; Ekaterinaris, John A. ; Caldwell, Darwin G.

Author_Institution

Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy

fYear

2011

fDate

25-30 Sept. 2011

Firstpage

4054

Lastpage

4059

Abstract

The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. Each segment is a parallel robotic mechanism with redundant actuation. The kinematics and dynamics of this manipulator are analyzed and simulated utilizing a modular computational modeling method. Simulation results for some primitive movements are presented, and the effect of hydrodynamic forces is included.

Keywords

flexible manipulators; parallel machines; redundant manipulators; underwater vehicles; hyper-redundant dynamic model; hyper-redundant manipulator; modular computational modeling method; octopus arm; octopus-like manipulator; parallel robotic mechanism; redundant actuation; underwater applications; Equations; Force; Joints; Manipulator dynamics; Mathematical model; Pistons;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Conference_Location

San Francisco, CA

ISSN

2153-0858

Print_ISBN

978-1-61284-454-1

Type

conf

DOI

10.1109/IROS.2011.6094468

Filename

6094468