Development of telescopic arm using lightweight iris hand

Abstract

In this research, we developed a telescoping arm using a single cylindrical spring that can be rolled up and becomes a cylinder when extended. It is a simple mechanism that only expands and contracts. An iris robot hand is mounted on the tip of the arm. Additionally, in order to reduce the weight of the tip of the arm, a three-fingered iris robot hand is used, a motor is placed at the base of the arm, and a wire is used to control the opening and closing of the iris robot hand.