This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

Date Published: 2 April 2015
PDF: 9 pages
Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94312V (2 April 2015); doi: 10.1117/12.2081361

Published in SPIE Proceedings Vol. 9431:
Active and Passive Smart Structures and Integrated Systems 2015
Wei-Hsin Liao, Editor(s)