Physical Modelling Of Active Four Bar Linkage Of Modular Hyper-Redundant Robot (MH-RR)

Abstract

Active four bar linkage requires one active joint and the remainder three passive joints. The whole structure of four bar linkage can be used to alter the displacement and orientation of subsequent frame for Modular Hyper-Redundant Robot. This four-bar linkage can be assembled to become the four leg systems into four degree of freedom of Stewart Platform or any other new arrangement for building a module in this continuum robotic discipline. The nature of leg system can be pneumatic-bowel, electromagnetic or hybrid system. This work will physically model the usage of one active joint called leg for this purpose. Then, the work will continue to physically model a module of Modular Hyper-Redundant Robot with four four-bar linkages as its actuators. The focus is to study the performance curve in open loop response of these legs. Besides, in this research, it will focus on the motion of the Modular Hyper-Redundant Robot.