A Proposal of Super Long Reach Articulated Manipulator with Gravity Compensation using Thrusters

Abstract

This paper proposes a super long reach articulated manipulator with gravity compensation using thrusters. The proposed manipulator has (1) ground fixed base, (2) tethers for power and information transmission, (3) articulated links connected by joints, and (4) thruster(s) for weight compensation. Because of weight compensation by thruster(s), the proposed manipulator can be super long reach due to free from gravity. After an experiment using 1 D.O.F experimental setup for principle confirmation, and dynamics numerical simulation, an experimental prototype consisted of passive four-bar linkages, active yaw joints and paired counter-rotating propellers, was developed. We successfully demonstrated the proposed concept by three dimensional motions controlled by thrusters and yaw joints.

Flying watch: an attachable strength enhancement device for long-reach robotic arms

“…Similarly, robotic arms have different designs and are demanded to achieve different missions. Inspired by the wristwatch designs and thrust actuated arm designs [5,6,11,12], we imagine there could be a watch-like thrust generating module that also come with different sizes, actuation abilities, and adjustable and replaceable watch bands so that such modules can be attached to different robotic arms with mission-dependent attachment styles and cooperate with arm actuators to enhance arm strength. We call this concept flying watch.…”

“…In [5,6], arms that apply water jets to counteract gravity were proposed. In [11,12], arms with passive joints driven by thrusts to counteract external reaction forces were proposed.…”

“…(2) Their designs are difficult to be applied to other long arms. For example, the arm designed in [11] can counteract gravity using thrusts, which is useful for carrying sensors and picking up objects. However, if we want the arm to push aside objects on the ground, the external reaction force is horizontal and the arm may not be able to provide sufficient end effector forces.…”

“…However, if we want the arm to push aside objects on the ground, the external reaction force is horizontal and the arm may not be able to provide sufficient end effector forces. Therefore, the arm in [11] cannot be customized to different missions. For pushing objects aside, the arm design in [12] is suitable since it can counteract external reaction forces in different directions using thrusts.…”

“…For pushing objects aside, the arm design in [12] is suitable since it can counteract external reaction forces in different directions using thrusts. However, adapting the arm design in [12] to the existing arm in [11] requires significant mechanism modification on the arm in [11].…”