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Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

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Abstract

In this contribution, a systematic methodology for solving the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented.

First, the kinematics and dynamics of the base module are carried out using the theory of screws and the principle of virtual work. Next, the expressions obtained for the base module are extended without significant effort to the spatial hyper-redundant manipulator under study. Finally, the proposed methodology of analysis is applied to a 18 degrees of freedom hyper-redundant manipulator.

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Authors and Affiliations

  1. Instituto Tecnológico de Celaya, Department of Mechanical Engineering, Av. Tecnológico y A. García Cubas, 38010, Celaya, Gto., Mexico

    J. Gallardo-Alvarado, C. R. Aguilar-Nájera, L. Casique-Rosas & L. Pérez-González

  2. Universidad de Guanajuato, FIMEE, Calle Tampico No. 912, 36730, Salamanca, Gto., Mexico

    J. M. Rico-Martínez

Authors
  1. J. Gallardo-Alvarado
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  2. C. R. Aguilar-Nájera
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  3. L. Casique-Rosas
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  4. L. Pérez-González
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  5. J. M. Rico-Martínez
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Correspondence to J. Gallardo-Alvarado.

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Gallardo-Alvarado, J., Aguilar-Nájera, C.R., Casique-Rosas, L. et al. Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory. Multibody Syst Dyn 20, 307–325 (2008). https://doi.org/10.1007/s11044-008-9121-7

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