Variable Twist Angle of Flexible Electromagnetic Hyper Redundant Robot

Denavit Hartenberg (D-H) Kinematic structure representation of robot having revolute joint normally have fix arm length a, offset distance d, twist angle α and only varied joint angle θ. This paper introduce two (2) inputs variable of twist angle α and joint variable θ besides fix value of arm length a and offset distance d. Variable value of α and θ are dependent on polar electromagnetic actuator actuation sequence. The actuator extension and their combination will determine the joint variable value of joint angle θ and twist angle α. This electromagnetic muscle is arranged in four (4) polar arrays around disk body. Even though the electromagnetic muscles are classified as prismatic joint, their sequence and combination of operation producing two joint variables of joint angle θ and twist angleα. Output from this forward kinematic model is the end effector NOAP matrix and its yaw, pitch and roll orientation representation. This novel module is intended for building a high assemblage of Hyper Redundant Robot. A low cost polycarbonate plastic and spring are used for structure of flexible body module. Coil of more than 1000 turns is employ in order to generate distance extension. The Programmable Logic Controller (PLC) is used to manage the sequence of energizing the coils for having value of ∝ and θ.