A Proposal of a Watch-like Attachable Device for Long-Reach Robotic Arm Enhancement

抄録

This paper proposes a modular watch-like thrust-generating concept, called flying watch, which can be attached to a robotic arm to enhance arm strength. Multiple flying watches can be attached with an attachment style customized to a specific mission. Flying watch has a compact propulsion system in order to avoid collision and removable and adjustable watch bands similar to wristwatch in order to be attached to different robotic arms. After attachment, flying watches adapt their thrusts to cooperate with existing arm actuators to reduce their loads. Flying watch provides existing long arms higher strength and versatility to accomplish more missions and gives roboticists more flexibility to build more slim long arms. The important elements for realizing such concept will be detailed in this paper.