Development of a coupled tendon-driven 3D multi-joint manipulator

Horigome, Atsushi; Yamada, Hiroyuki; Endo, Gen; Sen, Shin; Hirose, Shigeo; Fukushima, Edwardo F.

doi:10.1109/icra.2014.6907730

Cited by 33 publications

(30 citation statements)

References 3 publications

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“…Yet we note that the novel requirements of handheld robotics results in different design considerations. Our design (figure 1) is inspired by the cable driven mini 3D CT-arm [3][4] [5], but with modifications suited for handheld applications. Their 6 degree of freedom (6-DoF) arm is 2.4m long and designed to Department of Computer Science, University of Bristol, UK agreggsmith@gmail.com, wmayol@cs.bris.ac.uk inspect nuclear reactors.…”

Section: Introduction and Related Workmentioning

confidence: 99%

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Inverse kinematics and design of a novel 6-DoF handheld robot arm

Gregg-Smith

Mayol-Cuevas

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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We present a novel 6-DoF cable driven manipulator for handheld robotic tasks. Based on a coupled tendon approach, the arm is optimized to maximize movement speed and configuration space while reducing the total mass of the arm. We propose a space carving approach to design optimal link geometry maximizing structural strength and joint limits while minimizing link mass. The design improves on similar non-handheld tendon-driven manipulators and reduces the required number of actuators to one per DoF. As the manipulator has one redundant joint, we present a 5-DoF inverse kinematics solution for the end effector pose. The inverse kinematics is solved by splitting the 6-DoF problem into two coupled 3-DoF problems and merging their results. A method for gracefully degrading the output of the inverse kinematics is described for cases where the desired end effector pose is outside the configuration space. This is useful for settings where the user is in the control loop and can help the robot to get closer to the desired location. The design of the handheld robot is offered as open source. While our results and tools are aimed at handheld robotics, the design and approach is useful to non-handheld applications.

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Section: Introduction and Related Workmentioning

confidence: 99%

“…This means each joint has a summed torque proportional to the mass it has to lift and is therefore an optimal distribution of torque for the collective motor mass. A full analysis of these principles can be found in [5].…”

Section: Introduction and Related Workmentioning

confidence: 99%

Inverse kinematics and design of a novel 6-DoF handheld robot arm

Gregg-Smith

Mayol-Cuevas

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Furthermore, this resistance incremental makes that the pressure elevates faster and the mechanical limitations of the pumps are reached faster as well. 15 Percentage of pressure loss due to the hose generated with different diameters of the outlet at different mass flow rates…”

Section: Summary Of Water-jet Experimentsmentioning

confidence: 99%

“…Another project under development, which also uses wire-rope drive, attempts to increase reach length of the arm. However, the proposed final diameter is not small enough to be deployed through the piping [15]. From the examples mentioned above, the tendril developed by NASA is the only system that keeps a slim constant diameter throughout its length [12].…”

Section: Introductionmentioning

confidence: 99%

Development of an actuation system based on water jet propulsion for a slim long-reach robot

et al. 2017

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Most of the long-reach inspection devices developed so far have a limitation in the reduction of their diameter when their length is increased. This limitation is due to the technology used to provide the actuation to the system. The use of water-jet as propulsion source is promising to be a solution for this problem. Currently different devices use water-jet as propulsion. However, none of these systems have been designed for small-scale nor have a straightforward control. Therefore, in this paper, we discuss the development of a long-reach water-jet probe aimed to be used in Fukushima Daiichi Nuclear Power Plant. The main elements that define this probe are three high-pressure pumps at the base, three hoses whose water flow is controlled for maneuvering the device, an Inertial Measurement Unit to acquire the attitude of the tip, and a joystick that allows the user the control of the whole device. Moreover, its design allows it to move in different kind of environments and generate three-dimensional motion. Besides the experimentation developed to characterize its behavior, the system was tested in different environments; such as on the ground, in the air and inside the water; showing the best control in aquatic environments.

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“…They have been used in many applications, such as in offshore mooring systems, climbing mountaineering ropes, and recently, in robotics fields in artificial muscles [1], tendon-driven robots [2] [3] [4] and active endoscopes [5].…”

Section: Introductionmentioning

confidence: 99%

Consecutive Impact Loading and Preloading Effect on Stiffness of Woven Synthetic-Fiber Rope

Sry¹,

Mizutani²,

Endo³

et al. 2017

JTST

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We studied consecutive impact loading on woven high-modulus polyethylene rope, which is used in robotics fields. An impact tester was developed to conduct the experiments. Five consecutive impact loads (five drops) were applied to the rope and the stiffness of the loading part that corresponds to each drop was evaluated. The stiffness of the woven ropes was affected strongly by consecutive impact loading. The change in stiffness is undesirable in some applications such as in robotic fields. Therefore, we have proposed a method that can optimize changes in stiffness by applying a preload before impact testing (preload treatment). The experimental results show that preload is an efficient way to reduce changing rope stiffness. We have also proposed an empirical equation that can estimate the rope stiffness after arbitrary preload treatment, and this equation is a function of the number of drops and the static preload level. The equation can be used to determine the preload treatment conditions to stabilize the stiffness of the woven ropes before they are used in engineering fields.

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Development of a coupled tendon-driven 3D multi-joint manipulator

Cited by 33 publications

References 3 publications

Inverse kinematics and design of a novel 6-DoF handheld robot arm

Inverse kinematics and design of a novel 6-DoF handheld robot arm

Development of an actuation system based on water jet propulsion for a slim long-reach robot

Consecutive Impact Loading and Preloading Effect on Stiffness of Woven Synthetic-Fiber Rope

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