HYPER-REDUNDANT MULTI-LINKS ROBOT ARM WITH INDIRECT ACTUATION AND INTRASTRUCTURAL TRANSMISSION OF MECHANICAL POWER

摘要

Hyper-redundant multi-links robot arm with indirect actuation and intrastructural transmission of mechanical power used for operation in spaces with physical restrictions. The arm consists of ten sequential cylindrical links (1), nine thereof being interconnected by a universal joint (3) enabling flexion and twisting, whereby each two neighboring links (1) are suspended against each other by four helical compression springs (4). The arm is under actuated, with twenty degrees of freedom, and at its one end it has a hand (28) with a gripper (29) capable of torsion. The arm is powered by nine servomotors disposed in the base of the robot at its other end. The power transmission from the servomotors to the links (1) and further to the gripper (28) with hand (29) is realized intra structurally by pulleys (14) and wires (9).