Design of hyper redundant robot using ball screw mechanism approach
作者： Salar Bayani , Rambod Rastegari , Farzad Cheraghpour Samavati
关键词:
摘要: Hyper redundant robots are highly used in inaccessible environments. This capability is due to the numerous degrees of freedom (DOFs) this structure. Using cables and tendons, pneumatic hydraulic actuators, based on flexible backbone, solutions build these kind robots. In paper, new approach that using ball screw mechanism provided. The designed novel combination serial base parallel structured actuators. proposed robot has 12 DOFs 6 sections. Each section actuated by 2 cylinders moving mechanism. modeling generated SOLIDWORKS simulated ADAMS software. all steps, relationships work a modular mode, more generalized have 2N freedom.
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