A long-reach robotic arm is useful for applications such as nuclear plant decommissioning, inspection, and firefighting. However, for such arms, a small external reaction force can result in large loads on proximal arm actuators because of long moment arms. This problem was previously solved by specialized arm designs that compensate external reaction forces. However, these arm designs are hard to be applied to other arms or customized to different missions. To overcome these difficulties, in this paper, we propose a modular thrust generating concept inspired by wristwatch designs, called flying watch, which can be attached to a robotic arm with mission-dependent attachment styles (attachment positions and orientations) and cooperate with actuators to enhance arm strength. We first introduce flying watch concept, design, and dynamics. Then we propose two levels of watch-actuator cooperation in quasistatic situations by introducing a problem called Watch Actuator Cooperation for Arm Enhancement (WACAE) and providing an example solution. The first level of cooperation is only watches adapt their thrusts to minimize actuator loads, which is generally applicable to varieties of arms. The second level cooperation is that not only do the watches adapt their thrusts but also the actuators cooperatively position the watches to optimal positions and orientations to counteract external reaction forces, which is suitable for redundant arms and can counteract external reaction forces more effectively. Finally, we present simulations to verify that flying watches can significantly reduce actuator loads using both levels of watch-actuator cooperation (the first level by 36.9% and the second level by 43.7%).
展开▼
