Kinematic modeling of hyper redundant robot using ball screw mechanism approach

摘要

Hyper redundant robots due to the highly degrees of freedom (DOFs) are very efficient to utilize in inaccessible environments. In this paper, using ball screw mechanism for the sections of robot as a novel movement method is proposed. Based on the situation locating of the actuators, the robot can be assumed as a serial hyper redundant robot. The robot modeled as 3 sections that result 6 DOFs in SOLIDWORKS and its equations brought in MAPLE software based on the denavit-hartenberg (D-H) parameters. The equations worked in a general form that can be promoted for N DOFs.