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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 7, issue 2
Mech. Sci., 7, 155–166, 2016
https://doi.org/10.5194/ms-7-155-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 7, 155–166, 2016
https://doi.org/10.5194/ms-7-155-2016
© Author(s) 2016. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 12 Aug 2016

Research article | 12 Aug 2016

Design and analysis of a bio-inspired module-based robotic arm

Zirong Luo1, Jianzhong Shang1, Guowu Wei2, and Lei Ren3 Zirong Luo et al.
  • 1School of Mechatronics Engineering and Automation, National University of Defence Technology, 410073 Changsha, China
  • 2School of Computing, Science and Engineering, University of Salford, Salford, M5 4WT, UK
  • 3School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester, M13 9PL, UK

Abstract. This paper presents a novel bio-inspired modular robotic arm that is purely evolved and developed from a mechanical stem cell. Inspired by stem cell whilst different from the other robot "cell" or "molecule", a fundamental mechanical stem cell is proposed leading to the development of mechanical cells, bones and a Sarrus-linkage-based muscle. Using the proposed bones and muscles, a bio-inspired modular-based five-degrees-of-freedom robotic arm is developed. Then, kinematics of the robotic arm is investigated which is associated with an optimization-method-based numerical iterative algorithm leading to the inverse kinematic solutions through solving the non-linear transcendental equations. Subsequently, numerical example of the proposed robotic arm is provided with simulations illustrating the workspace and inverse kinematics of the arm. Further, a prototype of the robotic arm is developed which is integrated with low-level control systems, and initial motion and manipulation tests are implemented. The results indicate that this novel robotic arm functions appropriately and has the virtues of lower cost, larger workspace, and a simpler structure with more compact size.

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Inspired by stem cell whereas different from the other robot "cell" or "molecule", a fundamental mechanical stem cell is proposed leading to the development of mechanical cells, bones and a Sarrus-linkage-based muscle. Using the proposed bones and muscles, a bio-inspired modular-based five-degrees-of-freedom robotic arm is developed to show that the stem-cell inspired pure mechanical stem cell has parallels in biology and provides a modular flexible way to build robotic arm and development.
Inspired by stem cell whereas different from the other robot "cell" or "molecule", a fundamental...
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