Development of a General-purpose Expandable Arm for Small Mobile Robots
نویسندگان
چکیده
In this paper we present our developed expandable sliding arm which enables a small sized mobile robot to push and pull objects. The mobile robot arm can manipulate objects such as elevator buttons, light switches and mailbox drawers. The expandable arm has 3 degrees of freedom; a rotary degree of freedom at the base, a stretching degree of freedom and a rotary degree of freedom at the end-effector. The stretching section is composed of 4 links. The length of the contracted arm is 388mm and the expanded total length is 1218mm. Our mechanical arm is composed of linear motion guides in the stretching section, driving DC motors, an harmonic-drive as speed reducer and a solenoid to push switches and buttons at the end-effector.
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