New Design Mechanism Four-Bit Control of Variable Twist Angle Single Module for Adding Industrial Robot Wrist Dexterity

Abstract

This study focuses on hyper-redundant robots, which are highly articulated and connected to industrial robots. These robots have a higher degree of freedom, allowing for infinite configuration and delivering points of interest. However, they require complex universal joints and linkages systems, which can be challenging to design. To address this, a variable twist angle module with a high-compliant flexible joint is proposed. The concept of binary control for two-dimensional truss systems is modified to work with industrial robots, and a new mathematical compression of four degrees of freedom robotic system into a single module arm matrix is implemented. The virtual Robot Experimental Platform is used for physical and controller modeling. The study concludes that hyper-redundant robots provide solutions with dexterity, even with fault tolerance as the task-space dimension.