Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments.

Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and dimensions as those used in fully-structured industrial environments, which have been proven to experience low dexterity and singularity issues in challenging environments due to their structural limitations. When implemented in environments other than fully-structured industrial environments, conventional manipulators are liable to singularity, joint limits and workspace obstacles. This makes them inapplicable in confined semi-structured environments, as they lack the flexibility to operate dexterously in such challenging environments. In this paper, structural optimisation of a hyper-redundant cable-driven manipulator is proposed to improve its performance in semi-structured and challenging confined spaces, such as in agricultural settings. The optimisation of the manipulator design is performed in terms of its manipulability and kinematics. The lengths of the links and the joint angles are optimised to minimise any error between the actual and desired position/orientation of the end-effector in a confined semi-structured task space, as well as to provide optimal flexibility for the manipulators to generate different joint configurations for obstacle avoidance in confined environments. The results of the optimisation suggest that the use of a redundant manipulator with rigid short links can result in performance with higher dexterity in confined, semi-structured environments, such as agricultural greenhouses.