Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy)
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2017-04-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/848/83_16-00270/_pdf/-char/en |
| _version_ | 1797989113265127424 |
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| author | Atsushi HORIGOME Hiroya YAMADA Shin SEN Shigeo HIROSE Gen ENDO |
| author_facet | Atsushi HORIGOME Hiroya YAMADA Shin SEN Shigeo HIROSE Gen ENDO |
| author_sort | Atsushi HORIGOME |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T08:15:05Z |
| format | Article |
| id | doaj.art-a823c5adb6ed40588892410a54a0f83e |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:15:05Z |
| publishDate | 2017-04-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-a823c5adb6ed40588892410a54a0f83e2022-12-22T04:35:11ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-04-018384816-0027016-0027010.1299/transjsme.16-00270transjsmeDevelopment of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy)Atsushi HORIGOME0Hiroya YAMADA1Shin SEN2Shigeo HIROSE3Gen ENDO4Department of Mechanical and Aerospace Engineering, Tokyo Institute of TechnologyHIBOT CORPORATIONDepartment of Precision Engineering, The University of TokyoHIBOT CORPORATIONSchool of Engineering, Tokyo Institute of TechnologyLong-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.https://www.jstage.jst.go.jp/article/transjsme/83/848/83_16-00270/_pdf/-char/entendon drivenmanipulatorlong reacharticulatedmotion capture |
| spellingShingle | Atsushi HORIGOME Hiroya YAMADA Shin SEN Shigeo HIROSE Gen ENDO Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) Nihon Kikai Gakkai ronbunshu tendon driven manipulator long reach articulated motion capture |
| title | Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) |
| title_full | Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) |
| title_fullStr | Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) |
| title_full_unstemmed | Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) |
| title_short | Development of a coupled tendon-driven 3D multi-joint manipulator (Investigation of tension transfer efficiency, optimal reel arrangement and tip positioning accuracy) |
| title_sort | development of a coupled tendon driven 3d multi joint manipulator investigation of tension transfer efficiency optimal reel arrangement and tip positioning accuracy |
| topic | tendon driven manipulator long reach articulated motion capture |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/848/83_16-00270/_pdf/-char/en |
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