Ceiling continuum arm with extensible pneumatic actuators for desktop workspace
Ceiling continuum arm with extensible pneumatic actuators for desktop workspace
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DOI：
10.1109/robosoft.2018.8404919
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发表时间：
2018-04
期刊：
影响因子：
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通讯作者：
Taigo Yukisawa;Satoshi Nishikawa;Ryuma Niiyama;Y. Kawahara;Y. Kuniyoshi
中科院分区：
文献类型：
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作者：
Taigo Yukisawa;Satoshi Nishikawa;Ryuma Niiyama;Y. Kawahara;Y. Kuniyoshi
我们提出了一种可伸展的气动连续体手臂，它可以伸长以执行伸展运动和抓取物体，并悬挂在天花板上，以防止在桌面工作空间中干扰人类工作。所选的波纹管执行器旨在增强手臂的运动能力。单个执行器可以提供150N的最大拉力，所提出的臂具有三段式结构，每段具有三个执行器束。我们使用光学运动捕捉系统测量了手臂末端的三维运动。相应的结果表明，该手臂可以抓取半径约为80 mm的物体，并可以到达桌面上的任何一点。最大伸长率为180%，长度在0.75m~2.1m之间变化。实验证明，该臂可以抓取不同大小和形状的物体。此外，我们还利用ARM的可扩展性演示了对象的垂直运输。我们希望将提议的ARM应用于抓取对象、照亮桌面和与用户进行物理交互等任务。
We propose an extensible pneumatic continuum arm that elongates to perform reaching movements and object grasping, and is suspended on the ceiling to prevent interference with human workers in a desktop workspace. The selected actuators with bellows aim to enhance the arm motion capabilities. A single actuator can provide a maximum tension force of 150 N, and the proposed arm has a three-segment structure with a bundle of three actuators per segment. We measured the three-dimensional motion at the arm tip by using an optical motion-capture system. The corresponding results show that the arm can grasp objects with approximate radius of 80 mm and reach any point on the desktop. Furthermore, the maximum elongation ratio is 180%, with length varying between 0.75 m and 2.1 m. Experiments verified that the arm can grasp objects of various sizes and shapes. Moreover, we demonstrate the vertical transportation of objects taking advantage of the arm extensibility. We expect to apply the proposed arm for tasks such as grasping objects, illuminating desktops, and physically interacting with users.