Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator
Elastic manipulator is an arm, which can operate in a work-space with obstacles. Such properties are characteristic of the following manipulators: built of a number of rigid links >3 connected with each other by kinematic joints of third, fourth and fi
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R. Cieslak Technical University of Wroclaw, Wroclaw, Poland A. Morecki Warsaw University of Technology, Warsaw, Poland
1. Introduction Elastic manipulator is an arm, which can operate in a work-space with obstacles. Such properties are characteristic of the following manipulators: • built of a number of rigid links >3 connected with each other by kinematic joints of third, fourth and five class and controlled by a cable drive or a direct drive. • built as a continuos joint structure, • built of elastic links connected to each other by the joints or rigidly. The elephant trunk type elastic manipulator is built of elastic links (coil springs) connected rigidly and operated by cable manipulation in work spaces with obstacles. The prototype was designed in 1990 in Warsaw University of Technology (team headed by
A Morecki; Fig. 1a). In 1991 a new project started at the Chair ofDesign and Automation of Off-Road and Heavy Machines of Technical University of Wrocl:aw (R. Cie8lak and
A Morecki). The new model of an experimental manipulator is based on the results obtained by the theoretical and experimental investigations. The manipulator is driven by hydraulic actuators (Fig. 1b). Some new results concerning the static and dynamic properties of this A. Morecki et al. (eds.), ROMANSY 11 © Springer-Verlag Wien 1997
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R. Cidlak, A. Morecki
manipulator have been obtained. The main goal of these experiments was the experimental verification of the proposed theoretical model.
b)
Fig. l. Elastic manipulator of an elephant trunk type: a) the prototype, b) experimental manipulator with hydraulic drive.
2. Construction of an experimental manipulator of an elephant trunk type. The ann of the elastic manipulator is built of eight coil springs connected with each other by rigid separators. In the ann we can distinguish three segments: the base consist of four springs, the middle one consists of three springs and the terminal one consists of one spring. Each of the segments is driven by two pairs of cables which act independently. The action of each pair of cables is coupled i.e. the shortening of one cable causes the lengthening of the other one by the some length. In each segment the cables are located at 90 degree. Each pair is controlled by one reciprocal
actuator. The arm is controlled by a set of six hydraulic actuators and six proportional hydraulic distributors. The diagram of the ann and the hydraulic supply system is shown on Fig. 2.
Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator
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