Robotic Elephant's Trunk Arm with Flexible Spatial Positioning

Abstract:

In this paper, we describe a novel robotic elephants trunk arm with the possibility of spatial positioning that is used increasingly in wider applications as in surgery interventions and in industries where is required performing complex trajectories. We suggest innovation in robotic structures arms with a high ratio between length and arm diameter. This feature is compulsory in medical field to achieve minimally invasive incisions and accuracy. Our design concept offers a solution for structure miniaturization using a small number of actuated joints that are serially connected by discreet rigid links and implemented in the modular structure to achieve a high level of spatial accuracy and minimally diameter arm. There have been made and developed numerous similar designs some of them by [1, 2, 3, 4, 5], but without the advantage of our approach revealed in the kinematic analysis.

• Periodical: Applied Mechanics and Materials (Volume 657)
• Pages: 829-833
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.657.829
• Online since: October 2014
• Authors: Catalina Ciofu*, Paul Alin Butunoi, Gheorghe Stan
• Keywords: Continuous Manipulator, Narrow Space, Spatial Precision, Wire-Driven Mechanism

References

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