On Design And Motion Planning Of Spatial Hyper-Redundant Robot

Hyper-redundant robot shares many good characteristics, for example, adaptability and compatibility to environment, favorable fault tolerance and robustness, and shows bright prospect in complicated unstructured environment such as space exploration, military detection, emergency rescue and disaster relief. This thesis focuses on design and motion planning of spatial hyper-redundant robot, which is meaningful to both academic and engineering application. The followings have been done in this thesis.1. By analyzing the merits and shortcomings of a number of former joint configurations, a new kind of motor driven joint with two degree of freedom is presented. In the new joint, the gear transmission is introduced to elaborately combine with the universal joint. The new joint can overcome such shortcomings of traditional universal joint as non-uniform transmission ratio and low transmission accuracy. And it characterizes with simple and compact structure, small size, structural decoupling, good rigidity, large driver torque and smooth motion. This new joint is also applied to obtain a new spatial hyper-redundant robot with 10 degree of freedom in good overall performance.2. The kinematics of spatial hyper-redundant robot is investigated. Modeling and solution for forward kinematics and inverse kinematics of spatial hyper-redundant robot are studied by using the modal approach method based on backbone curve. An algorithm for fitting the spatial hyper-redundant robot is given.3. The motion planning and its simulation for spatial hyper redundant robot are implemented. Taking the minimum of the joint's range of motion as the optimization design goal, spatial straight-line motion planning and spatial circle motion planning are accomplished by using the genetic algorithm. The planar and spatial wrapping planning are done respectively by introducing cycloid motion equation to angular displacement, angular velocity, and angular acceleration, and applying the geometric analysis method based on the shape controlling.The studies here both enrich the variety of the hyper-redundant robot joints and provide effective methods for optimizing the design and motion planning of spatial hyper-redundant robot.