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Hyper-redundant hybrid manipulator modeling method

delete2025-05-25
delete0
PRE
AI
S
Shijie Wang
W
Wei Feng
W
Weijun Wang
刘
刘今越 (Jinyue Liu)
D
Dong Yang
T
Tiejun Li
DOI：10.1016/j.ijmecsci.2025.110421delete
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Abstract

Abstract

En 中文
■ Propose hyper-redundant hybrid manipulators (HRHMs) with multiple redundancy. ■ Develop unified recursive models for HRHMs’ generalized kinematics and dynamics. ■ Simplify the dynamics model using the Jacobian matrix of each component’s centroid. ■ Analyze different screw theory combinations’ impact on application effectiveness. ■ Introduce virtual world frame, modularization, and recursion concepts.

Journal

International Journal of Mechanical Sciences cover
International Journal of Mechanical Sciences
IF:
9.4
Papers:
1.0W
Citations:
4.5W

Organization

No organization information available