International Journal of Frontiers in Engineering Technology, 2023, 5(10); doi: 10.25236/IJFET.2023.051012.
Shengcong Wang
The Stony Brook School, New York, USA
Manipulators have been widely used in modern industrial fields. The long arm with wire control has the advantages of light arm body structure, separation of control part with the execution arm, and long length with more flexibility in control, which makes it able to serve a wider range of application scenarios, especially many highly-radiation, polluted and confined environments, and greatly reduce the risks of injury to people and property during operation. In order to make a safe and easily operated mechanical arm which can be used for polluted environments, the author of this paper tried to use his knowledge and research experience to design and make a low-cost and environmentally friendly ultra-redundant wire-controlled long arm with the safe and easily available materials and components. The author designed and implemented a mechanical long arm with a universal joint structure driven by steering gears and a wire-controlled transmission. The arm body is composed of 8 controlled universal joints connected in series. It is controlled in two groups, and each group can realize two degrees of freedom, the 4 joints in a group ensure the same rotation angle through the mechanical structure. At the same time, the mapping model of motor and cable, and the mapping model of cable and rotation angle are constructed to realize the movement of the control unit at a given angle, and the author's design is verified by experiments.
manipulator, mechanical arm, long arm, wire-driven
Shengcong Wang. A Wire-driven Full Constraint Mechanical Long Arm with Digital Control. International Journal of Frontiers in Engineering Technology (2023), Vol. 5, Issue 10: 77-86. https://doi.org/10.25236/IJFET.2023.051012.
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