Modeling of serial link robots covered with a thin flexible film

Abstract

This manuscript describes the modeling of a serial link robot covering with a thin, flexible film. By covering a serial link robot with a plastic film, the robot can manipulate daily goods such as foods and clothes cleanly. However, the mechanical properties of the serial links covering the film have not been clarified. In this manuscript, we discuss the fundamental mechanical characteristics, whether the film and the link should slide or not. We assume that the film is modeled as a beam, and analyze the static mechanical characteristics from the viewpoint of material mechanics. As a result, we find the robot can rotate even in a small DC motor by filling an appropriate volume of an insulating fluid. We evaluate the validity of the analyses experimentally through the prototype fabricated by the robot packaging method.