Biologically inspired guidelines for the design of the Hyper-Dexterous Manipulator

摘要

The tradeoff between the dexterity, compliance and payload capacity is a key challenge in the design of Hyper-Dexterous Manipulator (HDM). In this paper, we focus on the properties of typical biological structures related to HDM in order to guide the design of a high performance HDM, as biological inspiration provides a key design guideline for robotic design. The typical biological structures are generalized into soft-body structure, spine with articular structure and spine without articular structure. Finally, a unique conceptual design of HDM inspired by spine without articular structure is proposed.