Abstract
Arm-Z is a hyper-redundant manipulator based on a sequence of linearly joined identical modules. Each module has only one degree of freedom—a twist relative to the previous module. Arm-Z can be potentially economical, as the modules can be mass-produced. Arm-Z is also robust, as the malfunctioning module can be replaced. Moreover, if some modules malfunction, the device can still execute tasks with certain accuracy. However, the disadvantage of Arm-Z is a non-intuitive and difficult control. This paper presents a concept of a modular tracking device comprised of four identical modules. As an example, the Sun-tracking setup is used with possible application for solar energy harvesting.
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Acknowledgements
This research is a part of the project titled Arm-Z: an extremely modular hyperredundant low-cost manipulator—development of control methods and efficiency analysis and funded by OPUS 17 research grant No. 2019/33/B/ST8/02791 supported by the National Science Centre, Poland.
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Zawidzka, E., Szklarski, J., Zawidzki, M. (2023). Arm-Z as a Modular Tracking Device. In: Yang, XS., Sherratt, S., Dey, N., Joshi, A. (eds) Proceedings of Seventh International Congress on Information and Communication Technology. Lecture Notes in Networks and Systems, vol 448. Springer, Singapore. https://doi.org/10.1007/978-981-19-1610-6_37
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