ICRA 2011 Paper Abstract


Paper WeA208.3

Behrens, Roland (Fraunhofer Institute for Factory Operation and Automation IFF), Küchler, Conrad (Fraunhofer Institute for Factory Operation and Automation IFF), Förster, Tilo (Fraunhofer Institute for Factory Operation and Automation IFF), Elkmann, Norbert (Fraunhofer IFF)

Kinematics Analysis of a 3-DOF Joint for a Novel Hyper-Redundant Robot Arm

Scheduled for presentation during the Regular Sessions "Parallel Robots II" (WeA208), Wednesday, May 11, 2011, 10:35−10:50, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Kinematics, Parallel Robots, Biologically-Inspired Robots


In this paper, the kinematics of a novel joint with three degrees of freedom for a hyper-redundant robot arm is investigated. This joint is able to achieve a superposed rotation about two axes (roll and pitch) and a translational motion along one axis as a common prismatic joint. The forward and inverse kinematics of the so-called Multi-Joint will be determined in a closed-form solution. Next, the reachable and suitable workspace will be worked out to determine the solution space of the inverse kinematics. Finally, the differential kinematics to compute the cartesian velocity and statics will be determined.



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