Abstract
In this paper, we develop a robotic arm that has three degrees of freedom for underwater robots. Electric motors for underwater manipulators has some weakness that is no-waterproof mechanics and the size. We develop a flexible joint driven by a prismatic actuator. One joint is consisted of a leaf spring and a McKibben actuator driven by water pressure. Contracting the actuator causes the bending of the joint. This mechanism restores to original state against the deformation. Finally, we confirm that the robotic arm drives using master-slave system.
