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Sensors and Actuator System Of Special Hyper Redundant Robot

By
Sanat Kumar Biswas
Roll No. 10307039
Under the guidance of
Professor H. B. Hablani
Department of Aerospace Engineering,
Indian Institute of Technology, Bombay

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Abstract


Choice of sensors and actuators is an important issue in the context of designing robots. In this report different types of sensors and actuators are reviewed, from the point of view that, how these can be used in Spatial Hyper Redundant Robot (SHR). As SHR is an all terrain robot and sometimes has special features like climbing ladder or a pole or climbing through a vertical duct, it requires special arrangement of sensors throughout its body. Generally conventional actuators like motors or pneumatic actuators are used in SHR. But using unconventional Shape Memory Alloy and BRAID technology degrees of freedom of a joint can be improved and joint design task becomes very easy. This new research area is discussed in this report. Different types of SHR designs have been proposed and developed for various applications. Some of the designs have been reviewed and their features, advantages and drawbacks have been discussed.