Browsing by Author "Ozgoren, M. Kemal"

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The Conceptual Design of a Spatial Binary Hyper Redundant Manipulator and Its Forward Kinematics
(Sage Publications Ltd, 2012) Bayram, A.; Ozgoren, M. Kemal
The hyper redundant manipulators (HRMs) have excessively many degrees of freedom. As a special but practicable subset of them, the binary hyper-redundant manipulators (BHRMs) use binary (on-off) actuators with only two stable states such as pneumatic cylinders and/or solenoids. This article describes the conceptual design of a spatial BHRM together with its forward kinematics. This BHRM consists of many modules with the same constructive characteristics. The modules increase in size from the tip to the base so that the actuator powers also increase in the same order. Each module consists of three submodules. The first and second submodules have the shapes of variable geometry trusses and they work in mutually orthogonal planes. The third submodule is a discrete twister. The manipulator is assumed to be driven by pneumatic on-off actuators. Because of the discrete nature of the on-off actuators, a small but continuously actuated six-joint manipulator is installed as the last module of the BHRM in order to compensate the discretization errors.
The Position Control of a Spatial Binary Hyper Redundant Manipulator Through Its Inverse Kinematics
(Sage Publications Ltd, 2013) Bayram, Atilla; Ozgoren, M. Kemal
This article is about the position control of a binary hyper redundant manipulator, which is driven by pneumatic on-off actuators. The end platform of the binary hyper redundant manipulator bears a small fine tuning manipulator, which is a continuously actuated six-joint manipulator attached as a versatile error-compensation tool. It is employed to compensate especially the discretization errors. The position control aims to make the end-effector of the fine tuning manipulator track a specified sequence of successive poses as required by the task to be performed. This aim is achieved by solving the inverse kinematics problem of the binary hyper redundant manipulator, i.e. by determining the binary positions of the on-off actuators, so that the end platform of the binary hyper redundant manipulator enters the inverted working volume of the fine tuning manipulator for each specified target pose of the end effector. As to solve the inverse kinematics problem of the binary hyper redundant manipulator, three methods are presented. They are the plain spline fitting method, the extended spline fitting method, and the workspace filling method. The plain spline fitting method is based on forcing the actual backbone curve of the binary hyper redundant manipulator to approximate a spatial reference spline which is specified as the desired backbone curve. In the extended spline fitting method, the result found in the plain spline fitting method is improved by using a genetic algorithm. In the workspace filling method, the workspace of the binary hyper redundant manipulator is filled randomly with a sufficiently large finite number of discrete configurational samples. If it is desired to have a concentration on a particular region of the workspace, then that region is filled by using a genetic algorithm. After the filling stage, the sample closest to the desired configuration is determined by a suitable searching algorithm. The three methods are demonstrated and comparatively discussed by means of several examples.