A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes

To facilitate sensing and physical interaction in remote and/or constrained environments, high-extension, lightweight robot manipulators are easier to transport and reach substantially further than traditional serial chain manipulators. We propose a novel planar 3-degree-of-freedom manipulator that achieves low weight and high extension through the use of a pair of spooling bistable tapes, commonly used in self-retracting tape measures, which are pinched together to form a reconfigurable revolute joint. The pinching action flattens the tapes to produce a localized bending region, resulting in a revolute joint that can change its orientation by cable tension and its location on the tapes though friction-driven movement of the pinching mechanism. We present the design, implementation, kinematic modeling, stiffness behavior of the revolute joint, and quasi-static performance of this manipulator. In particular, we demonstrate the ability of the manipulator to reach specified targets in free space, reach a 2D target with various orientations, and maintain an end-effector angle or stationary bending point while changing the other. The long-term goal of this work is to integrate the manipulator with an aerial robot to enable more capable aerial manipulation.

Automated summary

This paper presents a high-extension, lightweight robot manipulator that achieves low weight and high extension using spooling bistable tapes. The manipulator is capable of changing its orientation and location, and can reach specified targets in free space.