Kinematics Analysis And Simulation Research Of Hyper-redundant Planar Variable Geometry Truss Robot

Impelled by the modern information technology, the technology of robot advances rapidly, especially the research on the special purpose robot. Hyper-redundant robot can not only conquer the defect of the traditional non-redundant robot, but also has many other merits, such as greater dexterity, obstacle avoidance in highly constrained spaces, robustness. So the research on hyper-redundant robot becomes more and more important.Based on the analysis of several kinds of robot morphologies, the paper applies variable geometry truss as the basis of the hyper-redundant robot. Drive unit is applied between the models so as to increase the operations on three-dimension. On consideration of the performance, the paper chooses and designs the components of the robot, and 3D model of the robot is designed in Pro/E software. The paper presents the kinematics of hyper-redundant robot, and discusses the modal approach of backbone in details. Furthermore, the fitting algorithms suited the variable geometry truss are presented. According to the locomotion of creatures in nature, the paper gives three kinds of two-dimension locomotion: stationary wave amplitude varying (SWAV), traveling wave amplitude constant (TWAC) and extensive locomotion, and also two kinds of three-dimension locomotion:"sidewinding"analogous to snake and obstacle avoidance locomotion based on TWAC locomotion are presented. The paper develops the theory of"sidewinding"locomotion that can be used in uneven areas. Excepted to locomotion, the hyper-redundant robot can also be applied as manipulator which has the ability that the normal redundant manipulator doesn't have. The paper improves the existed backbone algorithm and brings forward the"area backbone"to the grasp operation. Compared to traditional backbone approach, the"area backbone"has greater efficiency. By the motion planning, the hyper-redundant manipulator can operate in highly constrained spaces. The comparison between the obstacle avoidance in the spaces of truss and joint is presented.The paper calculates the morphologies figure of every locomotion and operation by the software MATLAB, then programs in the software VC++. The data obtained in the programming is imported to the software ADAMS finally. By simulation, we can check the truth of the kinematics theory.