I am interested in simulating a spatial hyper redundant robot manipulator having 32 DOF with 16 links, each link having 2 degrees of freedom(all rotation/revolute joint). It is actuated by rope drives passing internally through the links. Here only four links of the 16 will be actuated(4,8,12,16), while other links move based on the curvature of the rope/ force applied by change in curvature of the rope. Is there any way to implement this directly through mechanisms/physics or through scripting??
It would be great if I get some resources regarding this(eg. books, journals, videos etc..)
Thanks in advance...
How to implement rope drive for a hyper redundant manipulator in v-rep?
Re: How to implement rope drive for a hyper redundant manipulator in v-rep?
Hello,
ropes are not really supported. But have a look here for a simple possibility.
So if you cannot mimic the rope by applying external forces onto your manipulator, the only other option would be to have the passive joints also actuated (and have a script figure out the required actuation in order to mimic the effect from the rope).
Cheers
ropes are not really supported. But have a look here for a simple possibility.
So if you cannot mimic the rope by applying external forces onto your manipulator, the only other option would be to have the passive joints also actuated (and have a script figure out the required actuation in order to mimic the effect from the rope).
Cheers