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Journal of Emerging Trends in Engineering and Applied Sciences (JETEAS)

ISSN:2141-7016

Article Title: LEARNING FROM NATURE - IMPLEMENTING HYPER-REDUNDANT ROBOTS JOINTS WITH RUBBER
by Afolayan Matthew Olatunde

Abstract:
This paper explored the relationship between resource availability and utilization for sustainable development in doing Robot designs can be classified based on the number of concurrent joints they posses. The convectional robots can best be described as discrete manipulators where the designs are based on a small number of active joints. Another category are the hyper-redundant robots that have much larger number of joints while the third group are referred to as continuum robots with theoretically no joints or the joints are not distinct. In hyper-redundant robot joint design, the problem many researchers have to solve includes how to control the multiple degree of freedom joints to produce usable motion since an hyper-redundant body can take a very large number of possible shapes without a constraint. This work therefore presents a design of a biologically inspired joint using vulcanized carbon black rubber. An hydrostatic joint model was imitated. Simulation on the designed joint shows that it will not fail in service due to warping. The maximum von Mises stress of 42.61kPa will occur at the rubber-aluminum interface when the joint is loaded as a cantilever with an 0.001N load. The maximum von Mises strain is 0.31m/m.
Keywords: biomimetic, joint, simulation, robot, hyper-redundant robot
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ISSN: 2141-7016

Editor in Chief.

Prof. Gui Yun Tian
Professor of Sensor Technologies
School of Electrical, Electronic and Computer Engineering
University of Newcastle
United Kingdom

 

 

Copyright © Journal of Emerging Trends in Engineering and Applied Sciences 2010