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Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators

Published online by Cambridge University Press:  14 May 2013

Alireza Motahari*
Department of Mechanical and Aerospace Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
Hassan Zohoor
Center of Excellence in Design, Robotics and Automation, Sharif University of Technology, and The Academy of Sciences, Tehran, Iran
M. Habibnejad Korayem
Center of Excellence in Experimental Solid Mechanics and Dynamics, Iran University of Science and Technology, Tehran, Iran
*Corresponding author. E-mail:


Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators is a new practical problem in robotics. The problem concerns with determining the type of each manipulator module from among several specific types, so that the manipulator could reach several specified target frames with the lowest error. This paper suggests using a breadth-first search method and a workspace mean frame to solve this problem. To reduce errors, two heuristic ideas are proposed: two-by-two searching method and iteration. The effectiveness of the proposed method is verified through several numerical problems.

Copyright © Cambridge University Press 2013 

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