Design and Fabrication of a Linear-To-Angular-Displacement-Device (LADD)-based Robotic Limb and Accompanying Transmission System

Abstract

This project focuses on using the linear-to-angular displacement device (LADD) to actuate a continuum arm in 3-dimensional space. The statics and geometry of LADD mechanisms are derived and the performance is compared with that of conventional twisted string mechanisms. Improvements to the design and manufacturing of LADDs are presented and discussed. A transmission system capable of driving multiple LADDs using a single motor is designed, fabricated, and verified to demonstrate the feasibility of implementation, with a focus on applications to continuum limbs.