Modeling, Design and Experimental Evaluation of an Agile Long-Reach Robotic Arm

Abstract

Flexible robotics offers promising solutions for navigating complex environments, and this study contributes to its advancement through innovative methodologies optimizing both flexible robotic arm kinematics and a novel flexible actuator. The first methodology focuses on optimizing kinematics using quadratic programming, enabling the determination of optimal segment configurations without prior knowledge of specific materials or working principles, thus introducing a novel systematic first step in flexible robotic design. Addressing computational intensity and solver compatibility limitations, valuable insights are provided into designing segmented flexible robotic arms, offering a systematic methodology for real-world challenges. Simultaneously, an electromagnetically actuated Kresling cylinder is introduced, leveraging tunability in axial stiffness and electromagnetic actuation. Through dimensional optimization using finite element analysis (FEA), critical design considerations such as coil dimensions and core configurations are systematically explored. Experimental validation extends the application to full-sized robotic arms for package unloading in confined spaces, underscoring the significance of magnetic force in overcoming gravitational resistance, especially in logistics environments. These methodologies represent significant contributions to the field of flexible robotics. The first provides a systematic framework for kinematic optimization, while the second introduces an innovative actuation mechanism tailored for flexible robotic arms in industrial settings requiring long-reach capabilities. Their integration opens new possibilities for designing adaptable robotic systems capable of complex tasks in diverse environments. By addressing computational challenges and practical constraints, this research advances the frontier of flexible robotics, facilitating real-world implementation across various industries.