Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting Many Parallel Mechanism Units with a Few DOF
Nobuyuki Iwatsuki*, Norifumi Nishizaka**, Koichi Morikawa*,
and Koji Kondoh***
*Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan
**Komatsu Ltd., 2-3-6 Akasaka, Minato-ku, Tokyo 107-8414, Japan
***Industrial Technology Center of Fukui Prefecture, 61 Kawai Washizuka, Fukui 910-0102, Japan
This paper describes the kinematic analysis and motion control of a hyper redundant robot built by serially connecting many units with a few DOF. Each unit of the manipulator is a spatial parallel mechanism with 3 DOF and is composed of 2 stages connected with 3 linear actuators, 7 spherical joints, and a center rod. The forward kinematic analysis of the manipulator based on the forward kinematics of each unit by numerical calculation was carried out. The inverse kinematic analysis, the iterative calculation so as to converge output error while output displacement is distributed into each unit with weighting coefficient, was proposed and formulated. Motion control of the robot was theoretically and experimentally examined based on the inverse kinematics. It was confirmed that a prototype with 3 units could generate the desired trajectories.
-  D. Stewart, “A Platform with Six Degrees-of-freedom,” Proc. of Inst. Mech. Eng., 180-15, pp. 371-376, 1965.
-  Y. Takeda, H. Funahashi, and H. Ichimaru, “Development of Spatial In-parallel Actuated Manipulators with Six Degrees of Freedom with High Transmissibility,” JSME Int. J., Ser. C, 40-2, pp. 299-308, 1997.
-  N. Iwatsuki, I. Hayashi et. al., “Development of an Active Worktable of a Spatial In-parallel Actuated Manipulator with 6 DOF,” Proc. of 1998 ICMT, pp. 285-290, 1998.
-  K. Kondoh and N. Iwatsuki, “Flexible Robot Arm Composed of Multi-stage Parallel Mechanisms,” Proc. of JSME Robotic-Mechatronics Conf. 2002, pp. 301-302, 2002 (in Japanese).
-  H. Tachiya, S. Akino, M. Takeuchi, and T. Suga, “A 6DOF Hybrid Mechanism Composed of Different Parallel Mechanisms, Trans. JSME Ser. C, Vol.64, No.627, pp. 4353-4360, 1998 (in Japanese).
-  T. K. Tanev, “Kinematics of a Hybrid (Parallel-Serial) Robot Manipulator,” Mechanism and Machine Theory, Vol.35, Issue 9, pp. 1183-1196, 2000.
-  X. Z. Zheng , H. Z. Bin, and Y. G. Luo, “Kinematic Analysis of a Hybrid Serial-Parallel Manipulator,” The Int. J. of Advanced Manufacturing Technology, Vol.23, No.11, pp. 925-930, 2004.
-  S. Huda and Y. Takeda, “Kinematic Analysis and Synthesis of a 3-URU Pure Rotational Parallel Mechanism with Respect to Singularity and Workspace,” J. of Advanced Mechanical Design, Systems, and Manufacturing, Vol.1, No.1, pp. 81-92, 2007.
-  N. Iwatsuki, N. Nishizaka, K. Morikawa, and K. Kondoh, “Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting with Many Parallel Mechanism Units with a Few DOF,” Proc. of the 8th Int. Conf. on Mechatronics Technology, pp. 29-34, 2004.