Research On Kinematics Of Modular Hybrid Hyper-Redundant Robot

Modular hybrid hyper-redundant robot, which overcomes the drawbacks of the parallel robot and the series robot, takes the advantages of good reconfiguration, easy installation and removal, high stiffness, large load carrying capacity, more flexible movement, and larger work space, and therefore, has drawn more and more attention of researchers. It is of great significance to study the kinematics of such robot for its practical application.The kinematics of the hyper-redundant robot modularized with the3-RPS parallel mechanism is investigated in this thesis, and the main contents are as follows.Firstly, the configuration analysis of the modular hybrid hyper-redundant robot is done based on screw theory. Helix of the basic module and their linear correlation are analyzed. The degree of freedom of the robot is calculated by the modified Kutzbach-Grubler formula, and the connected style between the modules is discussed.Secondly, the forward position solution of the modular hybrid hyper-redundant robot is accomplished. According to the robot’s own structural characteristics, a method for forward position solution of the modular hybrid hyper-redundant robot is presented based on the Sylvester resultant elimination. By applying the method, the symbolic forward position solutions are obtained.Thirdly, the velocity and acceleration analysis of the modular hybrid hyper-redundant robot is implemented. Based on screw theory and by using the Jacobian matrix of the basic module of the robot recursively, a common method for analyzing the speed and acceleration of the reference point on the output platform of the modular hybrid hyper-redundant robot is proposed.Lastly, the workspace of the modular hybrid hyper-redundant robot is determined. On the basis of the singularity analysis and the three-dimensional boundary search, a numerical method for determining the workspace of the reference point on the output platform of the modular hybrid hyper-redundant robot is put forward. And the effect of the module number and some structural parameters of the robot on the workspace is also studied.The above kinematic modeling and simulations for the modular hybrid hyper-redundant robot are conducted using UG and Matlab software to verify the effectiveness of the methods given in this thesis.