Hyper Redundant Manipulator Using Compound Three-Bar Linkages

Abstract A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM with 12 CTL units. It also presents the method and the simulation of the dynamical analysis with PID feedback control.

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