Building of Hyper-redundant Under-Actuated Soft Robotic Arm with 20 DOF.

The paper presents new mechanical design and control of a hyper-redundant, under actuated, soft robot arm with 20 DOFs with gripper. The robot mechanism is powered by the 9 servo-motors and the power transmission from the actuators to robot links and further to the end-effector is realized intra structurally by strings. Controllability and dexterity of the soft robotic arm is verified by model simulation before implementing control algorithms to the robot controller. For the purpose of simulation the algorithms of the inverse kinematics are realized. Mechanical prototype in its' early phase of integration is shown in this paper, too. Control performances of the hyper redundant soft robot arm are evaluated by a simulation example.