A.A. Ivanov
PhD in Technical Sciences, Saint-Petersburg State Polytechnical University (SPBSPU), Professor, Politekhnicheskaya ul., 29, Saint-Petersburg, Russia, tel.: +7(921)365-75-00, This email address is being protected from spambots. You need JavaScript enabled to view it.
D.A. Demidov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Laboratory, Tikhoretsky, 21, Saint-Petersburg, Russia, tel.: +7(906)250-06-91, This email address is being protected from spambots. You need JavaScript enabled to view it.
S.A. Nozdrin
SPBSPU, Postgraduate, Politekhnicheskaya ul., 29, Saint-Petersburg, Russia, tel.: +7(904)550-13-57, This email address is being protected from spambots. You need JavaScript enabled to view it.
R.R. Khazansky
SPBSPU, Postgraduate, Politekhnicheskaya ul., 29, Saint-Petersburg, Russia, tel.: +7(911)150-55-11, This email address is being protected from spambots. You need JavaScript enabled to view it.
S.G. Tchuprov
SPBSPU, Assistant, Politekhnicheskaya ul., 29, Saint-Petersburg, Russia, tel.: +7(911)278-32-04, This email address is being protected from spambots. You need JavaScript enabled to view it.
O.A. Shmakov
RTC, Head of Department, Tikhoretsky, 21, Saint-Petersburg, Russia, tel.: +7(921)923-78-80, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
The features of the design, architecture and control algorithms of the hyper redundant manipulator that is con-structed from identical mechatronic modules with two degree of freedom and orthogonal and coplanar axes that have been implemented in a prototype prepared for serial production are discussed.
Key words
Mechatronic module, cinematically-redundant manipulator, prototype.
Year 2014 Issue number 2 Consecutive issue number 3 Pages 55-60
UDC identifier: 621.865:004.896
