Hyper redundant manipulator using compound three-bar linkages

A new mechanism for hyper redundant manipulator (HRM)is presented, which comprises of serially assembled compound three-bar linkages (CTL) The CTL mechanism has some unique properties This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units The recursive algorithm of the inverse kinematics that the author originally developed is employed It is fast and stable, moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints It also presents the method of the dynamical analysis There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed The mechanical structure of the HRM having some CTL units that is under construction is shown