Kinematics of a hyper-redundant manipulator by means of screw theory

Abstract In this work the kinematics of a hyper-redundant manipulator built with an optional number of parallel manipulators with identical topologies assembled in series connection is carried out by using the theory of screws. First, closed-form solutions to solve the kinematics, up to the acceleration analysis, of the base module, an asymmetrical three-degree-of-freedom (dof) parallel manipulator with mixed motions, are derived using geometric procedures and the theory of screws; later, the symbolic results thus obtained are applied recursively to solve the kinema-tics of the proposed hyper-redundant manipulator. A 12-dof hyper-redundant manipulator is included as a case study.

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