Design of a compliant environmentally interactive snake-like manipulator

S Jainandunsing; Just Herder; Y Takeda; D. Matsuura

doi:10.1007/978-3-319-33714-2_26

Design of a compliant environmentally interactive snake-like manipulator

S Jainandunsing, Just Herder, Y Takeda, D. Matsuura

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

4 Citations (SciVal)

Abstract

Hyper redundant manipulators are robotic arms with many degrees of freedom. This allows them to navigate through a changing environment filled with objects. In this paper a new design for a hyper redundant manipulator is proposed. It makes use of underactuation and compliance to solve two problems, the path planning of the manipulator and the friction in the system. The proposed design consists of five segments. Each segment is a compliant cross axis flexure joint with four flexures. The proposed design is compared with a hyper redundant manipulator that also includes underactuation but is not compliant. It was found that compliance increases the range of motion and decreases the bending stiffness of the total manipulator while decreasing the lateral stiffness.

Original language	English
Title of host publication	ROMANSY 21 - Robot Design, Dynamics and Control
Subtitle of host publication	Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy
Editors	Vincenzo Parenti-Castelli, Werner Schiehlen
Publisher	Springer
Pages	233-240
ISBN (Electronic)	978-3-319-33714-2
ISBN (Print)	978-3-319-33713-5
DOIs	https://doi.org/10.1007/978-3-319-33714-2_26
Publication status	Published - 2016
Event	21st CISM-IFToMM Symposium on Robot Design, Dynamics and Control - Udine, Italy Duration: 20 Jun 2016 → 23 Jun 2016

Publication series

Name	CISM International Centre for Mechanical Sciences
Volume	569

Conference

Conference	21st CISM-IFToMM Symposium on Robot Design, Dynamics and Control
Abbreviated title	ROMANSY 2016
Country/Territory	Italy
City	Udine
Period	20/06/16 → 23/06/16

Keywords

Hyper redundant manipulator
Compliant mechanism
Environmentally adaptive manipulator
Flexible robot arm

Access to Document

10.1007/978-3-319-33714-2_26

Cite this

Jainandunsing, S., Herder, J., Takeda, Y., & Matsuura, D. (2016). Design of a compliant environmentally interactive snake-like manipulator. In V. Parenti-Castelli, & W. Schiehlen (Eds.), ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy (pp. 233-240). (CISM International Centre for Mechanical Sciences; Vol. 569). Springer. https://doi.org/10.1007/978-3-319-33714-2_26

Jainandunsing, S ; Herder, Just ; Takeda, Y et al. / Design of a compliant environmentally interactive snake-like manipulator. ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy. editor / Vincenzo Parenti-Castelli ; Werner Schiehlen. Springer, 2016. pp. 233-240 (CISM International Centre for Mechanical Sciences).

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title = "Design of a compliant environmentally interactive snake-like manipulator",

abstract = "Hyper redundant manipulators are robotic arms with many degrees of freedom. This allows them to navigate through a changing environment filled with objects. In this paper a new design for a hyper redundant manipulator is proposed. It makes use of underactuation and compliance to solve two problems, the path planning of the manipulator and the friction in the system. The proposed design consists of five segments. Each segment is a compliant cross axis flexure joint with four flexures. The proposed design is compared with a hyper redundant manipulator that also includes underactuation but is not compliant. It was found that compliance increases the range of motion and decreases the bending stiffness of the total manipulator while decreasing the lateral stiffness.",

keywords = "Hyper redundant manipulator, Compliant mechanism, Environmentally adaptive manipulator, Flexible robot arm",

author = "S Jainandunsing and Just Herder and Y Takeda and D. Matsuura",

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doi = "10.1007/978-3-319-33714-2_26",

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editor = "Parenti-Castelli, {Vincenzo } and Werner Schiehlen",

booktitle = "ROMANSY 21 - Robot Design, Dynamics and Control",

note = "21st CISM-IFToMM Symposium on Robot Design, Dynamics and Control, ROMANSY 2016 ; Conference date: 20-06-2016 Through 23-06-2016",

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Jainandunsing, S, Herder, J, Takeda, Y & Matsuura, D 2016, Design of a compliant environmentally interactive snake-like manipulator. in V Parenti-Castelli & W Schiehlen (eds), ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy. CISM International Centre for Mechanical Sciences, vol. 569, Springer, pp. 233-240, 21st CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Udine, Italy, 20/06/16. https://doi.org/10.1007/978-3-319-33714-2_26

Design of a compliant environmentally interactive snake-like manipulator. / Jainandunsing, S; Herder, Just; Takeda, Y et al.
ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy. ed. / Vincenzo Parenti-Castelli; Werner Schiehlen. Springer, 2016. p. 233-240 (CISM International Centre for Mechanical Sciences; Vol. 569).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Jainandunsing, S

AU - Herder, Just

AU - Takeda, Y

AU - Matsuura, D.

PY - 2016

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N2 - Hyper redundant manipulators are robotic arms with many degrees of freedom. This allows them to navigate through a changing environment filled with objects. In this paper a new design for a hyper redundant manipulator is proposed. It makes use of underactuation and compliance to solve two problems, the path planning of the manipulator and the friction in the system. The proposed design consists of five segments. Each segment is a compliant cross axis flexure joint with four flexures. The proposed design is compared with a hyper redundant manipulator that also includes underactuation but is not compliant. It was found that compliance increases the range of motion and decreases the bending stiffness of the total manipulator while decreasing the lateral stiffness.

AB - Hyper redundant manipulators are robotic arms with many degrees of freedom. This allows them to navigate through a changing environment filled with objects. In this paper a new design for a hyper redundant manipulator is proposed. It makes use of underactuation and compliance to solve two problems, the path planning of the manipulator and the friction in the system. The proposed design consists of five segments. Each segment is a compliant cross axis flexure joint with four flexures. The proposed design is compared with a hyper redundant manipulator that also includes underactuation but is not compliant. It was found that compliance increases the range of motion and decreases the bending stiffness of the total manipulator while decreasing the lateral stiffness.

KW - Hyper redundant manipulator

KW - Compliant mechanism

KW - Environmentally adaptive manipulator

KW - Flexible robot arm

U2 - 10.1007/978-3-319-33714-2_26

DO - 10.1007/978-3-319-33714-2_26

M3 - Conference contribution

SN - 978-3-319-33713-5

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BT - ROMANSY 21 - Robot Design, Dynamics and Control

A2 - Parenti-Castelli, Vincenzo

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Jainandunsing S, Herder J, Takeda Y, Matsuura D. Design of a compliant environmentally interactive snake-like manipulator. In Parenti-Castelli V, Schiehlen W, editors, ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy. Springer. 2016. p. 233-240. (CISM International Centre for Mechanical Sciences). doi: 10.1007/978-3-319-33714-2_26

Design of a compliant environmentally interactive snake-like manipulator

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