Siahaan, Michael Keveen and Tanaya, Prianggada Indra and Sinaga, Maralo (2014) A Study in Mathematical Kinematic Model of Hyper Redundant Manipulator and its Locomotion Simulation Using V-REP. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis work is to study the mathematical kinematic model in a hyper redundant manipulator and its locomotion using simulation. The mathematical kinematic model is a critical part in designing a hyper-redundant manipulator, and simulation is a very interactive way to design a manipulator. The mathematical kinematic model used in this thesis is serpenoid curve which developed from a sinusoidal wave. The mathematical kinematic model will be input to the model in simulation in V-REP. Some parameters will become the main control in the simulation. The hyper-redundant manipulator in the simulation is represented as snake robot. The parameters are the main factor affecting the behavior which will become the study of the mathematical kinematic model of hyper-redundant manipulator. The simulation gives an idealistic properties. However some parameters are set to give a more realistic simulation. This thesis also proposes the further research using the design, model, and behavior that has been obtain in the simulation.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Mathematical Kinematic Model; Manipulator; Snake Robot; Simulation
Subjects:	Q Science > QA Mathematics > QA841-QA842 Kinematics T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Astuti Kusumaningrum
Date Deposited:	31 Dec 2021 06:39
Last Modified:	31 Dec 2021 06:39
URI:	http://repository.sgu.ac.id/id/eprint/1301

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