Dexterous remote manipulation by the Casting manipulator system

研制了一种由刚性机械臂、变长度柔性金属丝和夹持器组成的铸造机械手系统。在该操作中，通过旋转机械臂，改变金属丝的长度，将手爪发射到目标物体上，然后通过金属丝的张力控制手爪的运动轨迹，实现对目标物体的抓取。最后通过摆臂收线回收目标，提出了各个运动阶段的控制方法，并通过实验验证了其有效性。

We developed the casting manipulator system which consists of a rigid arm, a flexible wire with variable length, and a gripper. In this manipulation, the gripper is launched to the target with changing the length of the wire by rotating the arm. Then the gripper's trajectory is controlled by the tension of the wire, and it catches the target object. Finally, the target is retrieved by reeling up the wire with swinging the arm. We proposed the control methods for each motion phase and their effectiveness is verified through experiments.