April 13, 2024

Stewart platforms actuate Doc Ock tentacle

Arduino CrewCould 4th, 2023

Octopus tentacles are, primarily, lengthy steady muscle groups — a bit like your tongue. That anatomy provides octopuses unimaginable dexterity, however it is extremely tough to copy in robots. Synthetic “muscle” fiber isn’t very sensible but, which is why roboticists flip to extra standard technique of actuation. Cable-driven tentacles are common, however they require many highly effective cable motors. For his latest challenge, James Bruton took a special method and utilized Stewart platforms.

Stewart platforms are considerably frequent in industrial settings, as a result of they will work with hydraulic pistons that deal with numerous weight. Six linear actuators organized between two plates let the second plate transfer at any angle relative to the primary plate, with the precise angle relying on the present lengths of the actuators. By chaining collectively a number of Stewart platforms, Bruton created a tentacle-like construction with full freedom in each joint.

The present prototype solely has three Stewart platforms, however these are sufficient to display the idea. Bruton used servos as a substitute of linear actuators to maintain the prices down. An Arduino Mega 2560 board controls these: a complete of 18 servo motors. The complete construction is made up of 3D-printed elements.

However increasing this design right into a full Doc Ock tentacle (a lot much less 4 of them) would include challenges. As with all robotic arm, the motors nearer to the bottom expertise extra load as the load and the size of the arm improve. These would in all probability should be changed with beefier fashions. And with six servos for each joint, even an Arduino Mega 2560 would rapidly run out of pins. That might, nonetheless, be solved through the use of a number of Arduino boards or an IO expander.

You’ll be able to comply with any responses to this entry via the RSS 2.0 feed.
You’ll be able to leave a response, or trackback from your individual web site.