The first objective of this work is to determine usability and long-term capabilities of high-strength synthetic fiber ropes, e.g. High Modulus Polyethylene (HMPE), used with high bending radii for the DoHelix-Muscle and the Strand Muscle Actuator (StMA). The second objective of this work is to analyze the existing concepts and to derive a concept for a new, improved rope actuator, addressing service robotics needs. The third objective of this work is to develop a lightweight jointed-arm robot, which makes use of this newly developed actuation concept and validates the results found before. The analysis shows, that most research concerning high-strength synthetic fiber ropes is done for maritime usage scenarios and it reveals a research gap regarding small diameters and small bending radii. A strong need for an experimental setup is identified. At the same time, lightweight jointed-arm robots are a significant cost factor for service robotic applications. New, biologically inspired actuation concepts are a promising approach to reduce costs and to enhance the system's capabilities. Following this path, an up to now not yet addressed research field for a bidirectional rope based actuator is identified. The QuadHelix-Drive, a new rope based actuator for robotic applications, is generated and a calculation method together with a three-dimensional CAD-model are presented. In a next step, experimental design and experimental strategy for parallel testing of different rope-based actuation systems are developed. Subsequently, the DoHelix-Muscle, the StMA and the QuadHelix-Drive are integrated into a newly designed testing facility for rope kinematic actuators, which fits the needs identified before. Long-term durability tests and short-term load tests with different rope materials and payloads are carried out. Based on these results, the targeted lightweight jointed-arm is developed. A biologically inspired modular design approach, using two modules with two degrees of freedom (DoF) combined with a Fraunhofer IPA gripper, is chosen to execute a service robotics pick-and-place scenario with a prototypic 4-DoF-jointed-arm robot. Finally, areas for future optimizations of the QuadHelix-Drive concept and the developed lightweight jointed-arm robot "ISELLA 2" together with possible follow-up research projects are outlined.
Untersuchung von Antrieben mit Kunststoff-Faserseilen für den Einsatz in Leichtbau-Gelenkarmrobotern
2013
Hochschulschrift
Elektronische Ressource
Unbekannt
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