A Method for Implementing Multi-Joint Coordination in Hybrid Articulated Manipulator Design

The cable-driven segmented manipulator, drawing inspiration from the undulating movements of snakes, is renowned for its exceptional flexibility and adaptability, rendering it highly suitable for deployment in intricate and confined spaces. However, challenges arise in scenarios involving a multitude of joints, encompassing an excessive number of driving motors, elevated manufacturing costs, and heightened control complexity. To address these challenges, our proposed approach focuses on achieving flexible coordination among multiple joints in the design of a hybrid manipulator. The method enables isometric rotation among a variable number of adjacent links by adjusting the configuration of synchronous wheels. This design approach allows the flexible configuration of joint sets in cable-driven segmented manipulators to adapt to various working environments. The proposed design method was employed to fabricate prototypes of two-joint and three-joint linked manipulators. Kinematic equations were formulated considering the unique characteristics of linked joints. Following assembly and control system design, experiments validated the method’s effectiveness. This innovative approach streamlines multi-joint hybrid manipulator structures, reducing manufacturing costs.