M.Sc Thesis

M.Sc StudentSalomon Oded
SubjectHyper-Redundant Robotic Arm
DepartmentDepartment of Mechanical Engineering
Supervisor PROF. Alon Wolf
Full Thesis textFull thesis text - English Version



A redundant robot has at least one more degree of freedom (DOF) than required, in order to span the Cartesian space, which enables handling of simple constraints. Hyper-redundant robots (HRR) have a very large number of actuatable degrees of freedom (DOF) which enable them to handle more constraints, such as those present in highly convoluted volumes. It is no surprise that HRR are versatile - as are their biological counterparts: snakes, elephant trunks, and worms, all of which can poke through and crawl through crevices as well as manipulate objects.

Designed as a robotic arm, they can serve in many robotic applications, by extending the reachability and manoeuvrability of the operator, thereby enabling him to bypass obstacles and reach a target without a direct line of sight.

The many degrees of freedom that provide the HRR with its wide range of capabilities also constitute its major challenges: mechanism design, control, and path planning.

We present a unique modular robotic arm with 16 DOF, composed of a series of eight modular links having 2 DOF each, with an exo-skeleton which carries high loads.

There are many applications in which such a robotic arm can have advantage over current manipulators:

End-users of this system can be first responders (e.g. police, fire brigades, disaster management crews, rescue workers). The tool will be able to support first responders on-site, significantly reducing the risk for health and safety of the rescue teams.

In the scope of this research, we present:

         A literature review of current HRR's

         A complete mechanical design of the HRR

         Development of on-board low level controllers (one per 2 DOF)

         Full kinematic analysis and Development of high level control and motion planning

         Development of communication protocol between the high level control and the low level control