Abstract
In order to increase the usefulness of robots, it will be necessary to increase the dexterity and usefulness of robot end-effectors. This work presents the design of a compact, multiple degree of freedom manipulator. The intended primary application for the device will be as a dexterous robot end-effector. The manipulator is constrained to move in a single plane using three revolute joints with parallel axes of rotation. A unique actuation system allows one actuator to power all three joints of the manipulator, although not simultaneously. The primary actuator is remotely placed, and tendon cables are used to transfer power to the joints of the device. Each joint has a locking mechanism which allows the manipulator to be efficiently controlled. The locking mechanism design employs a highly efficient band brake, and the design of this brake is believed to be original.
The manipulator is computer controlled and in its simplest mode of operation, each joint of the manipulator is controlled independently so that only one joint can move at a time. In addition to designing the manipulator, a force analysis of the device was performed to show how the applied torque from the motor is transferred to each joint. In order to improve the performance of the manipulator, it will be necessary to improve the system that controls the primary actuator. In addition, the sensing system of the overall device should be improved to maximize its performance for more complex manipulations. The first practical application of the manipulator could be as a reconfigurable gripper.
