A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes
A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes
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DOI：
10.1109/icra46639.2022.9811976
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发表时间：
2021-10
期刊：
影响因子：
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通讯作者：
Brian H. Do;O. G. Osele;A. Okamura
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文献类型：
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作者：
Brian H. Do;O. G. Osele;A. Okamura
为了促进在遥远和/或受约束环境中的传感和物理互动，高延伸，轻量级机器人操纵器比传统的串行链操作器更容易运输和实质性。我们提出了一个新颖的平面3度手动操纵器，通过使用一对载型双胶带，可以实现低重量和高伸展，通常用于自我裂开的胶带测量中，它们被捏合在一起以形成可重新配置的Revolute Recolute关节。捏合动作使磁带变平，以产生局部弯曲区域，从而产生一个旋转的接头，可以通过电缆张力来改变其方向，并在磁带上通过以摩擦驱动的夹紧机构的运动方式改变其方向。我们介绍了该操纵器的设计，实现，运动学建模，刚度的僵硬行为以及准静态性能。特别是，我们证明了操纵器在自由空间中达到指定目标的能力，以各种取向达到2D目标，并在更改另一个时保持最终效果角或固定弯曲点。这项工作的长期目标是将操纵器与空中机器人整合在一起，以实现更强大的空中操纵。
To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We propose a novel planar 3-degree-of-freedom manipulator that achieves low weight and high extension through the use of a pair of spooling bistable tapes, commonly used in self-retracting tape measures, which are pinched together to form a reconfigurable revolute joint. The pinching action flattens the tapes to produce a localized bending region, resulting in a revolute joint that can change its orientation by cable tension and its location on the tapes though friction-driven movement of the pinching mechanism. We present the design, implementation, kinematic modeling, stiffness behavior of the revolute joint, and quasi-static performance of this manipulator. In particular, we demonstrate the ability of the manipulator to reach specified targets in free space, reach a 2D target with various orientations, and maintain an end-effector angle or stationary bending point while changing the other. The long-term goal of this work is to integrate the manipulator with an aerial robot to enable more capable aerial manipulation.