Dynamical Modelling of a Hyper-Redundant Manipulator with a Hybrid Degree-of-Freedom Configuration

Abstract

Hyper-redundant robot is a type of special robot often used for detection and maintenance work in confined environments. With continuous research in recent years, various types of hyper-redundant robots have emerged. However, the dynamic modeling of hyper-redundant robots remains challenging. To address this issue, this paper introduces a hybrid degree-of-freedom configuration of hyper-redundant robots (HDHR), derives its kinematic model, and uses a modular dynamic modeling method to construct the dynamic model of hyper-redundant robot. Simulation results verify the feasibility of dynamic mode.