Hyper-Redundant Arm with ER Fluid Based Actuator and Control System

Abstract

Hyper-redundant robots of backbone types are generally driven by traction cables, making different curves for different segments in their body. This paper presents the structure of a hyper-redundant robot of backbone type having an electro- rheologhic system for position control. For proper operation, so for bending, we uses a cables system with DC motor-driven. The control system is made with a PIC microcontroller. Modeling the robot's position is done by bending it with cables, combined with locking the desired elements position through the electro- rheological system. The major advantage of this type of drive lies in the fact that the robot modeling can be done with a system with only three cables, the position lock system of an element or segment is relatively simple. Also presented is a variable width signal system with constant amplitude where the duration of the input signal is the control variable. The control system uses a mixed control. We use this controller for control of robot curvature respectively the control of ER valve.