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JRM Vol.36 No.1 pp. 21-29
doi: 10.20965/jrm.2024.p0021
(2024)

Paper:

Enhancement of Control Stability Using Double Pulleys for Coupled Tendon-Driven Long-Reach Manipulator “Super Dragon”

Yuki Shizume*, Atsushi Takata** ORCID Icon, and Gen Endo* ORCID Icon

*Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan

**Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology
2-24-16 Naka-cho, Koganei-shi, Tokyo 184-8588, Japan

Received:
July 18, 2023
Accepted:
October 3, 2023
Published:
February 20, 2024
Keywords:
wire-driven mechanism, synthetic fiber rope, control stability
Abstract

The exploration and inspection of narrow spaces in nuclear facilities require the use of long-reach manipulators. Coupled tendon-driven manipulators can realize lightweight and slender arms by positioning actuators, such as motors, at the base. Currently, we are developing a coupled tendon-driven super long-reach articulated arm, which we name “Super Dragon.” Super Dragon is a robot arm with a total length of 10 m, a maximum arm diameter of 0.2 m, and 10 joints. In this paper, we focused on the elasticity and elongation of ropes. The joint actuation of Super Dragon utilizes synthetic fiber ropes characterized by their high strength and flexible bending. However, when these ropes are used over long lengths, wire elongation occurs, thus causing the joint angles to exhibit unintended and unstable behavior. Therefore, we focused on a specific posture and employ a double pulley as a mechanical solution to suppress unstable behavior. We introduced stability criteria and performed parametric searches to obtain the appropriate double pulley radii. Subsequently, we identified the position and radius of the introduced double pulley that can be analytically stabilized. By installing a double pulley in the actual machine and conducting experiments, we successfully suppressed the unstable behavior.

Coupled tendon-driven manipulator: Super Dragon

Coupled tendon-driven manipulator: Super Dragon

Cite this article as:
Y. Shizume, A. Takata, and G. Endo, “Enhancement of Control Stability Using Double Pulleys for Coupled Tendon-Driven Long-Reach Manipulator “Super Dragon”,” J. Robot. Mechatron., Vol.36 No.1, pp. 21-29, 2024.
Data files:
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Last updated on Apr. 05, 2024