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Optimization, Fabrication and Utilization of a New Tendon Actuated Manipulator with Lockable Joints

Shafaei, Mohsen | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41995 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria; Salarieh, Hassan
  7. Abstract:
  8. Serpentine manipulators are a kind of hybrid manipulators that have a large number of joints and degrees of freedom. Due to their high flexibility, they have a great potential to work in constrained environment that filled with obstacles. One of the main problems of this type of manipulators is high weight and controlling difficulties. Many researches have been done to achieve lighter weight and simplify control methods of hyper-redundant manipulator. One way is putting the actuators in the base of the manipulator and transferring the actuator forces by cable. In this way, one cable and one actuator per controllable DOF is needed. Therefore, the weight and cost will increase dramatically with DOF. In addition, the control and simulation will be complicated.In 2008, a novel hyper-redundant manipulator was present that use only three cables and actuators with high power.Using a locking system on each joint one can lock and release each joint by consuming a little amount of energy. Therefore, by releasing or locking the joints in arbitrary sequence and by stretching the cables, the configuration of manipulator will change. In the current thesis, a new conceptual design is proposed to apply this idea. After the troubleshooting of the previous faulty arm, proposing all possible solutions and removing the defects, it has been optimized and reconstructed. In addition, by image processing of manipulator’s tip and calculating the position of the tip of manipulator, the possibility of the close loop control is provided. To set up, control and utilize the manipulator user interface software has been designed
  9. Keywords:
  10. Tendon Actuated Manipulators ; Image Processing ; Hyper-Redundant Manipulators ; Serpentine Hybrid Manipulator ; Lockable Joints

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