Design of a weight-compensated and coupled tendon-driven articulated long-reach manipulator

Horigome, Atsushi; Endo, Gen; Suzumori, Koichi; Nabae, Hiroyuki

doi:10.1109/sii.2016.7844064

Cited by 19 publications

(20 citation statements)

References 7 publications

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“…In Fig.7 (1), the wire is bent in the direction in which the wire is pulled. If the righthand wire is pulled (2), and then the left-hand wire is pulled, however, the tube will bend even further to the right (3). This is because the wire on the left side is positioned on the opposite side beyond the structural central axis.…”

Section: B the Arrangement Of The Driving Partmentioning

confidence: 99%

“…As mentioned above, the bending of the arm is concentrated near the tip, and the displacement of the tip was 250 mm. Fig.14 shows the motion when a multiple pulley mechanism and setting tension (2). Here, the entire structure is bending and the displacement of the tip is increased to 1000 mm.…”

Section: E Bending Experimentsmentioning

confidence: 99%

“…The weight of the mechanism was reduced and a weight compensation mechanism was installed as an attempt to overcome the constraint caused by the weight of the manipulator. As an example of weight reduction, there is the application of special rotation joints [1] and the arrangement of actuators concentrated on the base by driving force transmission using wires [2]. As an example of the weight compensation mechanism, there is a method of loading a part of gravity torque on a spring or a wire [3] [4], as well as a method of supporting torque by the structure itself.…”

Section: Introdictionmentioning

confidence: 99%

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Proposal of tendon-driven elastic telescopic arm and initial bending experiment

Fujioka

Endo

Suzumori

et al. 2017

2017 IEEE/SICE International Symposium on System Integration (SII)

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It is desirable to have an arm with a thin and long structure in order to observe a wide area through a narrow space for the survey at the disaster site. In addition, if the arm is lightweight and compact, there are fewer restrictions on the installation location, which leads to an improvement in the observation range. The telescopic structure has a high extension-to-contraction ratio and is a suitable structure to attain the aforementioned requirements. However, conventional telescopic arms can not avoid obstacles on the axis of extension because of high rigidity, so it is restricted to use in an open environment. In this paper, we propose an arm that controls the tip position by bending the structure with a wire by constructing a small diameter arm with a telescopic elastic body. We also examined the technical elements necessary to realize the proposed method and demonstrated the validity. It is difficult to bend in multiple directions or the whole structure by winding the wire only attached to the structure tip. Therefore, we devised a wire driving method in which bending moments are distributed as much as possible on the base side by arranging pulleys in multiple positions, and confirmed the desired motion through experiments.

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Section: B the Arrangement Of The Driving Partmentioning

confidence: 99%

Section: E Bending Experimentsmentioning

confidence: 99%

Section: Introdictionmentioning

confidence: 99%

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Proposal of tendon-driven elastic telescopic arm and initial bending experiment

Fujioka

Endo

Suzumori

et al. 2017

2017 IEEE/SICE International Symposium on System Integration (SII)

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“…For reducing the weight of a mechanism, there is a method of using the inflatable joint [1] which is integrated with the structure without additional mechanism or a method of transmitting power using a rope and collecting an actuator at the base [2]. As an example of the weight compensation mechanism, there is a method of supporting a gravity torque by using springs or ropes [3] [4], or there is a method of supporting it by the structure itself.…”

Section: Introductionmentioning

confidence: 99%

Tendon-driven Elastic Telescopic Arm -Integration of Linear Motion and Bending Motion-

Ogawa

Fujioka

Nabae

et al. 2020

2020 IEEE/SICE International Symposium on System Integration (SII)

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The telescopic structure has a high extension-tocontraction ratio and is suitable for using a long manipulator that reduces the size of the structure because it is lightweight and small in diameter. There is a problem that conventional telescopic structures are only used in an open environment because it can not avoid obstacles on the axis of extension. In this paper, we propose a linear mechanism that can extend and contract one node at a time by a linear movement mechanism using a slide screw, and clarify its effectiveness by experiments. In addition, we control the tip position of the arm by the rope winding length and discuss the accuracy quantitatively. In addition, by integrating the linear mechanism and the bending mechanism, we achieved the linear motion while avoiding obstacles on the axis of extension.

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“…Additionally, some gravity compensating arm designs based on springs [7,8] and weight [9] may also be used for designing passive force compensating arms. Regarding active force compensating arms, in [1,2,10], specialized coupled tendon-driven arms that can compensate gravity were proposed. In [5,6], arms that apply water jets to counteract gravity were proposed.…”

Section: Introductionmentioning

confidence: 99%

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

Pan

Endo

2019

Robomech J

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A long-reach robotic arm is useful for applications such as nuclear plant decommissioning, inspection, and firefighting. However, for such arms, a small external reaction force can result in large loads on proximal arm actuators because of long moment arms. This problem was previously solved by specialized arm designs that compensate external reaction forces. However, these arm designs are hard to be applied to other arms or customized to different missions. To overcome these difficulties, in this paper, we propose a modular thrust generating concept inspired by wristwatch designs, called flying watch, which can be attached to a robotic arm with mission-dependent attachment styles (attachment positions and orientations) and cooperate with actuators to enhance arm strength. We first introduce flying watch concept, design, and dynamics. Then we propose two levels of watch-actuator cooperation in quasistatic situations by introducing a problem called Watch Actuator Cooperation for Arm Enhancement (WACAE) and providing an example solution. The first level of cooperation is only watches adapt their thrusts to minimize actuator loads, which is generally applicable to varieties of arms. The second level cooperation is that not only do the watches adapt their thrusts but also the actuators cooperatively position the watches to optimal positions and orientations to counteract external reaction forces, which is suitable for redundant arms and can counteract external reaction forces more effectively. Finally, we present simulations to verify that flying watches can significantly reduce actuator loads using both levels of watch-actuator cooperation (the first level by 36.9% and the second level by 43.7%).

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Design of a weight-compensated and coupled tendon-driven articulated long-reach manipulator

Cited by 19 publications

References 7 publications

Proposal of tendon-driven elastic telescopic arm and initial bending experiment

Proposal of tendon-driven elastic telescopic arm and initial bending experiment

Tendon-driven Elastic Telescopic Arm -Integration of Linear Motion and Bending Motion-

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

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