一种使用夹持双稳态带的轻量、高伸展性平面三自由度机械臂
A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes
AI总结：
本文提出一种基于夹持双稳态带的轻量高伸展平面三自由度机械臂，通过可重构转动关节实现灵活定位，并验证了其准静态性能，旨在未来集成于无人机进行空中操作。
摘要：
为了在远程和/或受限环境中促进感知和物理交互，高伸展性、轻量化的机器人机械臂比传统串联链式机械臂更易于运输，并且能够触及更远的距离。我们提出了一种新颖的平面三自由度机械臂，通过使用一对卷绕的双稳态带（常用于自回缩卷尺中）来实现低重量和高伸展性，这些带被夹持在一起以形成可重构的转动关节。夹持动作将带压平，产生局部弯曲区域，从而形成一个转动关节，该关节可以通过缆绳张力改变其方向，并通过夹持机构的摩擦驱动运动改变其在带上的位置。我们展示了该机械臂的设计、实现、运动学建模、转动关节的刚度特性以及准静态性能。特别是，我们证明了该机械臂能够在自由空间中到达指定目标，以各种方向到达二维目标，并在改变另一个参数的同时保持末端执行器角度或静止弯曲点。这项工作的长期目标是将该机械臂与无人驾驶飞行器集成，以实现更强大的空中操作能力。
英文摘要：
To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We propose a novel planar 3-degree-of-freedom manipulator that achieves low weight and high extension through the use of a pair of spooling bistable tapes, commonly used in self-retracting tape measures, which are pinched together to form a reconfigurable revolute joint. The pinching action flattens the tapes to produce a localized bending region, resulting in a revolute joint that can change its orientation by cable tension and its location on the tapes though friction-driven movement of the pinching mechanism. We present the design, implementation, kinematic modeling, stiffness behavior of the revolute joint, and quasi-static performance of this manipulator. In particular, we demonstrate the ability of the manipulator to reach specified targets in free space, reach a 2D target with various orientations, and maintain an end-effector angle or stationary bending point while changing the other. The long-term goal of this work is to integrate the manipulator with an unmanned aerial vehicle to enable more capable aerial manipulation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
