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Design, Simulation and Control of a New Tendon Actuated Manipulator With Lockable Joints

Honarvar, Mohammad | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39805 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria; Salarieh, Hasan
  7. Abstract:
  8. Hyper-redundant manipulators have large number Degrees of Freedom. Because of their redundancy, such manipulators have the advantage of obstacle avoidance, overcoming singularities and intrusion into highly constrained environments. The most challenging task in designing hyper-redundant manipulators is the synthesis of actuating mechanisms with appropriate kinematics and effective power supply. Most of previous techniques in implementing hyper-redundant robots have the disadvantages of: -Using large number of actuators, -Heavy weight due to large number of actuators, -Complexity of the control system due to need of synchronizing subsets of motors. In this thesis a novel hyper redundant manipulator is presented. The novelty of this tendon actuated manipulator is due to use of lockable mechanism in its joints which makes it possible to be controlled with only 3 cables and actuators. Each link consists of 3 hydraulic jacks which are arranged in a parallel configuration and are used as locks in conjunction with 3 solenoid valves. Actuators are three cables which pass through joints all along the arm. A simple prototype has been designed and made for testing the idea. Detailed descriptions of the lock mechanism used in joints of prototype are presented. Direct and inverse kinematics of manipulator are derived. A new modified Particle Swarm Optimization method (PT-PSO) is introduced for solving the inverse kinematics of manipulator. An offline path planning procedure is designed for the manipulator. Finally the internal control loops for control of cables’ lengths and forces are designed and tested using modeling and simulation.
  9. Keywords:
  10. Path Planning ; Particles Swarm Optimization (PSO) ; Inverse Kinematics ; Hyper-Redundant Manipulators ; Tendon Actuated Manipulators

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