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Abstract:
This paper presents the design and construction process of the Arm-Z manipulator, which represents the concept of a hyper-redundant manipulator based on a connected sequence of identical modules. Each
module provides a single degree of freedom (1-DOF), specifically a twist relative to the previous module. The uniformity of the modules gives Arm-Z the potential to be cost-effective and robust. Standardized modules allow for mass production and can be easily replaced in case of failure. This paper discusses each stage of the design process from mechanical perspective, including: module’s geometry, simulation based on Denavit-Hartenberg parameters, and manufacturing process. The section covering work on the electrical system discusses issues such as selection of: motors, power supply, protections, and the network’s topology connecting EPOS controllers.

Keywords:
Robotic arm, Manipulator, Hyperredundant, Arm-Z, Extremely Modular System

Abstract:
Arm-Z is a concept of a hyper-redundant manipulator based on linearly joined sequence of congruent units. Each unit has only one degree of freedom (1-DOF) - the twist relative to the previous unit.
This paper presents the approach to design of modular robotic manipulator based on computer simulations. The approach is rather standard nowadays, however, it is applied to rather unique robotic system. The
CAD model of the module structure for a manipulator with 6 degrees of freedom and respective Denavit-Hartenberg notation are presented. Simulink - a MATLAB-based graphical programming environment was
used to determine the torques of individual modules. The results of three simulations are presented and discussed. Finally, based on critical observations, the drive and gear for the module of Arm-Z system were selected.

Keywords:
Simulation,Robotic arm,Manipulator,Arm-Z,MATLAB Simulink