Design of hyper redundant robot using ball screw mechanism approach

摘要

Hyper redundant robots are highly used in inaccessible environments. This capability is due to the numerous degrees of freedom (DOFs) of this structure. Using cables and tendons, pneumatic and hydraulic actuators, based on the flexible backbone, are the solutions to build these kind of robots. In this paper, new approach that using ball screw mechanism is provided. The designed approach is the novel combination of serial base and parallel structured actuators. The proposed robot has 12 DOFs in 6 sections. Each section actuated by 2 cylinders that moving by ball screw mechanism. The modeling of robot generated in SOLIDWORKS and simulated in ADAMS software. In all steps, the relationships work in a modular mode, that are more generalized to have 2N degrees of freedom.