Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator

We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joi...

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Bibliographic Details
Published in:Journal of robotics and mechatronics 2022-04, Vol.34 (2), p.328-338
Main Authors: Misu, Kenji, Ikeda, Masahiro, Or, Keung, Ando, Mitsuhito, Gunji, Megu, Mochiyama, Hiromi, Niiyama, Ryuma
Format: Article
Language:English
Subjects:
3-D printers
Aluminum
Bones
D C motors
Degrees of freedom
Electric motors
Manipulators
Muscles
Neck
Rigid structures
Robot arms
Robotics
Tensioners
Vertebrae
Wire
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Summary:We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joints that are designed to have angle limitations similar to the bones of a real ostrich. It moves in a vertical plane and is driven by two DC motors through antagonistic wires. The task considered in this study was to lift the arm tip (the “head” of the robostrich arm). The experimental results indicate that the tensioner balance and timing between the two wires are important for achieving the head-up task. This paper indicates the contribution of antagonist muscles to the performance of head-up tasks by high-degree-of-freedom underactuated manipulators in robotics and ostrich necks in biological studies.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2022.p0328