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

Abstract

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.

Rough Terrain Traveling Method Using an Elastic Telescopic Arm and a Tether

“…In this chapter, the principles of extension and bending motions of the ETA are explained. The principle of operation is based on the previous studies [8] [9].…”

“…By repeating this process, it is possible to extend all the units with a reciprocating motion of one unit. The details of the selection method of the push plate and the units in the linear mechanism are described in a previous study [9].…”

“…Pin 2, which is fixed in unit N 3 , stops unit N 2 from extending against unit N 3 . The details of the release method for the constraint mechanism are described in our previous study [9].…”

“…Hence, the tip position can be precisely controlled even when the arm becomes longer owing to the arm tip being directly actuated by the rope. The prototype was developed in the previous study [9]. In the following, we call this prototype the previous prototype and the new prototype developed in this paper the improved prototype.…”