东华大学学报(英文版)
東華大學學報(英文版)
동화대학학보(영문판)
JOURNAL OF DONGHUA UNIVERSITY
2003年
4期
118-122
,共5页
李彦明%马培荪%秦昌俊%曹志奎%王建滨%朱海鸿
李彥明%馬培蓀%秦昌俊%曹誌奎%王建濱%硃海鴻
리언명%마배손%진창준%조지규%왕건빈%주해홍
hyper-redundant manipulator%discrete manipulator%optimize
A novel hyper-redundant manipulator named RT1 is designed and studied.The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints.The mechanisms of RT1 are introduced in detail.Some experiments are carried out in order to test the movability and adaptability of the manipulator.RT1 is actuated by pulse string and acts discretely.The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also.The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position.An[1] optimization example is given that is realized with Matlab optimize tool-box.
