Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator

[+] Author and Article Information
Vivek A. Sujan, Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Mech. Des 126(1), 29-39 (Mar 11, 2004) (11 pages) doi:10.1115/1.1637647 History: Received July 01, 2002; Revised June 01, 2003; Online March 11, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Ebert-Uphoff, I., and Chirikjian, G. S., 1996, “Inverse Kinematics of Discretely Actuated Hyper-redundant Manipulators Using Workspace Densities,” Proceedings of the IEEE International Conference on Robotics and Automation, 1996, 1 , pp. 139–145.
Erdmann,  M. A., and Mason,  M. T., 1988, “Exploration of Sensor-less Manipulation,” IEEE J. Rob. Autom., 4, pp. 369–379.
Lees, D. S., and Chirikjian, G. S., “A Combinatorial Approach to Trajectory Planning for Binary Manipulators,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996.
Lichter, M. D., Sujan, V. A., and Dubowsky, S., 2000, “Experimental Demonstration of a New Design Paradigm in Space Robotics,” Proceedings of the Seventh International Symposium on Experimental Robotics, ISER 00. Dec 10–13, 2000, Honolulu, Hawaii.
Oropeza, G., 1999, “The Design of Lightweight Deployable Structures for Space Applications,” Thesis for the Bachelors of Science in Mechanical Engineering, Massachusetts Institute of Technology, May 1999.
Sujan, V. A., Lichter, M. D., and Dubowsky, S., 2001, “Lightweight Hyper-redundant Binary Elements for Planetary Exploration Robots,” Proceedings of the IEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM ’01), July, 2001. Como, Italy.
Goldberg, K., 1992, “Orienting Polygonal Parts without Sensors,” Compos. Struct., 1992, Special Robotics Issue.
Chirikjian,  G. S., and Burdick,  J. W., 1995, “The Kinematics of Hyper-redundant Robot Locomotion,” IEEE J. Rob. Autom., 11(6), pp. 781–793.
Huang, M. Z., and Shou-Hung Ling, 1994, “Kinematics of a Class of Hybrid Robotic Mechanisms with Parallel and Series Modules,” Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1.3 , pp. 2180–2185.
Hughes,  P. C., 1991, “Trussarm-A Variable Geometry Truss Manipulator,” J. Intell. Mater. Syst. Struct., 2, pp. 148–160.
Kwon, S., and Youngil, Youm, “General Algorithm for Automatic Generation of the Workspace for n-link Redundant Manipulators,” Proceedings of the International Conference Advanced Robotics, 1991. ‘Robots in Unstructured Environments,’ 1.2 pp. 1722–1725.
Chirikjian, G. S., and Burdick, J. W., 1990, “An Obstacle Avoidance Algorithm for Hyper-redundant Manipulators,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation. 13–18 May. 1 , pp. 625–631.
Umetani, Y., and Hirose S., 1973, “Biomechanical Study of Serpentine Locomotion,” Proceedings of the 1st RoManSy Symp. 1973, Udine, Italy, Springer-Verlag, pp. 171–184.
Umetani, Y., and Hirose, S., 1976, “Biomechanical Study of Active Cord-Mechanism with Tactile Sensors,” Proceedings of the 6th Int. Symp. on Industrial Robots, 1976, Nottingham, pp. c1-1-c1-10.
Hirose, S., and Umetani, Y., 1978, “The Development of Soft Gripper for the Versatile Robot Hand,” Mechanism and Machine Theory, Pergamon Press, 13 , pp. 351–359.
Gravagne, I. A., and Walker, I. D., 2000, “On the Kinematics of Remotely-actuated Continuum Robots,” Proceedings of the 2000 IEEE International Conference Robotics and Automation 3 , pp. 2544–2550.
Huntsberger, T. L., Rodriguez, G., and Schenker, P. S., 2000, “Robotics: Challenges for Robotic and Human Mars Exploration,” Proceedings of ROBOTICS2000, Albuquerque, NM, Mar 2000.
Dotson R. D., 1995, “Spacecraft Deployable Structure Testing,” Space Systems Design and Development Testing (AGARD-CP-561). AGARD. 1995, pp. 6/1–12. Neuilly Sur Seine, France.
Gantes,  C., Connor,  J., and Logcher,  R. D., 1989, “Structural Analysis and Design of Deployable Structures,” Comput. Struct., 32(3/4), pp. 661–669.
Meguro,  A., Mitsugi,  J., and Ando,  K., 1993, “A Modular Cable-mesh Deployable Structure for Large Scale Satellite Communication Antennas,” Trans. Inst. Electron., Inf. Commun. Eng. B-II, J76B-II,(5), pp. 476–84, Japan.
Syromiatnikov, V. S., 1992, “Manipulator System for Module Redocking on the Mir Orbital Complex,” Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1 pp. 913–918.
Darby,  A. P., and Pellegrino,  S., 1999, “Modeling and Control of a Flexible Structure Incorporating Inertial Stick-slip Actuators,” J. Guid. Control Dyn., 22, pp. 36–43.
Pellegrino, S., and Guest, S. D., 1998, “Deployable Structures: Theory and Applications,” Proceedings of IUTAM-IASS Symposium held in Cambridge, September 1998, Kluwer Academic Publishers, Dordrecht.
Ashby, M., 1992, “Material Selection in Mechanical Design,” Butterworth-Heinemann, Oxford.
Goldberg, D., 1989, “Genetic Algorithms in Search, Optimization, and Machine Learning,” Addison-Wesley, Reading, MA.
Madden,  J. D., Cush,  R. A., Kanigan,  T. S., , 2000, “Fast-contracting Polypyrrole Actuators,” Synth. Met., 113, pp. 185–193.
Pelrine,  R., Kornbluh,  R., Pei,  Q., , 2000, “High-speed Electrically Actuated Elastomers with Over 100% Strain,” Science, 287(5454), pp. 836–839.
Gilbertson, R., 1994, Muscle Wires. San Alselmo, CA.


Grahic Jump Location
Potential BRAID applications—coring rock samples 4
Grahic Jump Location
BRAID design concept, (a) Assembled structure; (b) Single parallel link stage final design
Grahic Jump Location
Detent based binary joint 46
Grahic Jump Location
ith parallel link stage, (a) Physical parallel link stage; (b) diagrammatic representation
Grahic Jump Location
Projection of section ABCD from Figure 4
Grahic Jump Location
Projection of section EFGH from Figure 4(b)
Grahic Jump Location
One stage of the BRAID, showing its eight binary configurations.
Grahic Jump Location
Position workspace of 5 stage BRAID element (BRAID element base center=origin)
Grahic Jump Location
Inverse kinematics solution times for various algorithms.
Grahic Jump Location
Average errors vs. number of DOF for different algorithms (100 samples per DOF), (a) displacement error; (b) angular error
Grahic Jump Location
Error distribution for a 15-stage BRAID (100 samples), (a) displacement error, (b) angular error
Grahic Jump Location
Search algorithm convergence for a single target point for n-staged BRAIDs, (a) Genetic search convergence; (b) Combinatorial search convergence
Grahic Jump Location
Endpoint positioning and avoiding obstacles 4
Grahic Jump Location
Spline curve to match (see text for description)
Grahic Jump Location
Average r.m.s. displacement error vs. number of BRAID stages (100 samples)
Grahic Jump Location
Error distributions for a 50 staged BRAID (100 samples)
Grahic Jump Location
SMA power and control bus, (a) Overview of actuator control electronics; (b) Power/control bus decoder architecture
Grahic Jump Location
SMA power bus address decoding and latching electronics
Grahic Jump Location
Experimental platform of BRAID




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In