Multi Model Simulation and Experimental Analysis of Modular Segment Continuum Robots

Abstract

Elephant trunk manipulator is one type of ‘hyper redundant’ manipulator. In recent times, the need for hyper-redundant manipulators is increasing in the field of robotics. The capacity to float through complex curvilinear pathways makes them in a perfect world appropriate to endoscopic and surgeries. It is said to be in two types as Planar hyper-redundant robot manipulator are those whose headway or control dependably on a plane and Spatial hyper-redundant robot manipulator (SHRRM) [1-2] are fit for components including all the three measurements of room. A diagnostic technique is given to think about the consistence attributes of the planar spring and infer the consistence network to speak to the force avoidance connections, permitting precise movement expectation Serial manipulators are characterized as those whose morphology has many sub segments associated in arrangement [3], with the base toward one side and the end effecter at the other.

Then again, Controllers involved with this have more power for incitation being directed, in parallel, towards the end effecter point, which may be anytime morphologically validated. Continuum controllers [4] are impelled as a solitary unit, regardless, how mind boggling their shapes are. In case of a discrete controller [5], it comprises of many number of discrete units, each prepared to do some measure of system. Benefits of Hyper-Redundant Robot is to Capacity to finish undertaking, regardless of whether a few degrees of opportunity come up short, Obstacle avoidance by changing the shape, conformance to ecological limitations on contact, capacity to utilize entire structure for control. With these benefits ,the applications of Hyper-Redundant Robot are  found to be majorly on Inspection of Steam Generator Tubes, as Flexible robot in constraint space [6], Used in medical field, nuclear research, surveillance robot for unreachable space.