Hyper-Redundant Robotic Model
Abstract: In these days can be observed a grown in interest regarding the robots with high mobility degree, wanted for their capability to avoid obstacles and reach difficult positions in their working space. One particular class of these robots consists in tentacle robots, biologically inspired by cephalopods. This paper present the steps followed for building a hyper-redundant robotic structure called HIPROB-I. It is shown how the CAD model was made, the preparation and built of the physical robotic structure and the finite-element analysis.
Keywords: hyper-redundant; CAD; finite-element; actuation; flexible
1. INTRODUCTION
A tentacle manipulator is a hyper-redundant or hyper degree of freedom manipulator. The control of these systems
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THE ACTUATING SYSTEM
The motion is transmitted to the robot’s arm using the cables. Each module is actuated using three cables that follow the entire module and are fixed on the last disk of that element. This cables are disposed under an angle of 120˚ from the median longitudinal axis of the element (Figure 7). It has been chosen a number of 3 actuating cables due to the fact that is the minimum number of actuating elements that can confer total mobility and control of the robot’s motion.
The block of the actuating elements is shown in Figure 14. The tentacle arm is designed to be actuated by 3-phase stepper motors. The interfaces are pulse direction based without rotation monitoring. Set-point position of the stepper motor is preset as a pulse signal by a controller via signal interface. A pulse corresponds to one step of the motor (0.5 pps-2.4M pps, Max. Acceleration Rate: 737M pps2, Speed resolution: 16-bit). An electronic relay contact reports operating readiness. The nominal torque MN is 2 Nm. Steps per revolution are selectable from 200 to 10000. The step angle α is selectable from 1.8° to 0.036°. Tree stepper motors are used for each segment of the tentacle. 4-Axis Stepper Motion Controller boards are used. It is a pulse train motion controller which provides T/S curve control, on-the-fly speed change, non-symmetric acceleration and deceleration profile control, and simultaneous start/stop functions. This controller also offers card index settings for multiple cards in one IPC
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