Abstract

The hybrid hyper-redundant robots have a very large number of controlled degrees of freedom. This work presents geometric and kinematic modeling using to design an hybrid hyper-redundant robot. The modular structure studied here is considered as a very redundant mechanism that leads to complicated kinematic model. Because the mechanical architecture of the manipulator is simplified, geometric resolution of the problem is made analytically and a specific solution to the case of hybrid hyper-redundant robot formed by the stacking of parallel mechanisms is obtained. It is based on inverse kinematics of each module which the Jacobian matrix (6 x 6) represents the relationship between the speed of the end effectors (linear and angular velocities) and the active joint velocities. Finally, a case study consisting of solving geometric and kinematic analysis of an 18-degrees of freedom (DOF) hyper-redundant manipulator is presented.