Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy)

摘要

Long-reach robotic manipulators are expected to be used in the space where humans cannot work such as nuclear power plant disaster areas. We suggested a coupled tendon-driven articulated manipulator ‘3D CT-Arm’ and developed a preliminary prototype ‘Mini 3D CT-Arm’ whose arm had 2.4 m length and 0.3 m width. In order to consider developing ‘3D CT-Arm’ deeply, we discussed tension transfer efficiency of a tendon through pulleys, the arrangement of the maximum number of reels in a limited space and the tip positioning accuracy. Through many transfer efficiency experiments, we conclude that tension transfer efficiency of ‘3D CT-Arm’ can reach over 88 % in the worst case. We investigated non-interfering reels’ arrangement in the base by full search in cases of up to 10 reels. In all simulations, V-shaped or W-shaped arrangement can support the most reels in a limited space. Therefore, we conclude this is the most optimal reels’ arrangement. Finally, we carried out the positioning accuracy experiment with ‘Mini 3D CT-Arm’ via motion capture system. Although the tip position had a 2 to 41 mm error between the desired value and the measured value by potentiometer, a 29 to 95 mm error between the desired value and the measured value was measured by motion capture system.