Mechanical design of service robot arm based on TRIZ theory

In this study, a universal service manipulator is developed, which can be used as a remote control guide. The concept of new manipulator is obtained by bionics. The fingers and wrists are driven by wire ropes and actuators attached to the upper arm through a musculoskeletal analysis of the human arm. Through dc motor driven screw - nut mechanism, drive cable to produce high tension. In order to facilitate the control of ground breaking force, combined spring is used in screw - nut mechanism. In the first design, finger control problems and interference between finger and wrist movements were found. Through the contradiction analysis of tree, the solutions of these problems are obtained. For the second design, broken paper and motion tests were performed on objects of various shapes and weights.