TY - GEN
T1 - A telescopic robot arm design performing space-saving motion for autonomous mobile robots
AU - Hanafusa, Yusuke
AU - Satoh, Hiroki
AU - Sasaki, Yoko
AU - Takemura, Hiroshi
N1 - Funding Information:
*This work was supported by the New Energy and Industrial Technology Development Organization (NEDO). 1Department of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba 278-8510, Japan 2National Institute of Advanced Industrial Science and Technology, 2-3-26 Aomi, Koto-ku, Tokyo 135-0064, Japan
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The paper proposes a compact arm suitable for mounting on a mobile robot that can generate space-saving motions. Standard industrial and collaborative robotic arms are not suitable for mobile robots traveling anywhere in daily life. A robotic arm for mobile robots is required to have the following two compactness requirements. (1) The arm does not interfere with surroundings when it is not in use, such as running. (2) The arm does not interfere with the robot itself or surrounding obstacles while performing a task at a given location. We propose a design of a mobile robot arm with two telescopic links. The proposed arm has mechanisms for compactness, multi-stage expansion and contraction by a lead screw, and folding wires in the telescopic link shells. A primary motion generator is implemented to the proposed arm that moves the arm tip to the specified 3D position. Its' small pass-through volume allows operation in confined spaces. The effectiveness of the proposed compact arm was verified by simulation and the actual prototype arm.
AB - The paper proposes a compact arm suitable for mounting on a mobile robot that can generate space-saving motions. Standard industrial and collaborative robotic arms are not suitable for mobile robots traveling anywhere in daily life. A robotic arm for mobile robots is required to have the following two compactness requirements. (1) The arm does not interfere with surroundings when it is not in use, such as running. (2) The arm does not interfere with the robot itself or surrounding obstacles while performing a task at a given location. We propose a design of a mobile robot arm with two telescopic links. The proposed arm has mechanisms for compactness, multi-stage expansion and contraction by a lead screw, and folding wires in the telescopic link shells. A primary motion generator is implemented to the proposed arm that moves the arm tip to the specified 3D position. Its' small pass-through volume allows operation in confined spaces. The effectiveness of the proposed compact arm was verified by simulation and the actual prototype arm.
UR - http://www.scopus.com/inward/record.url?scp=85126266478&partnerID=8YFLogxK
U2 - 10.1109/SII52469.2022.9708778
DO - 10.1109/SII52469.2022.9708778
M3 - Conference contribution
AN - SCOPUS:85126266478
T3 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
SP - 446
EP - 451
BT - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
Y2 - 9 January 2022 through 12 January 2022
ER -