Design Model for the Drive and Actuator of the Test Set-Up of a Novel Flexible Robotic System

摘要

Indigenous design of a multi-link flexible robotic system and its hardware manifestation is a challenging domain of today's research in robotics. In the present work, a novel test setup has been made for experimenting on a prototype Flexible Robotic System (FRS), focusing mainly in the drive and actuation mechanism. Due to the slenderness and inherent trembling of FRS, selection as well as design of the drive system of the robot is truly competitive. The FRS test-bed is finally intended for developing a full-fledged application-centric robotic system, namely, Patient Assistance Robot (PAR). Various metrics of the real-time operation of the proposed PAR have been attained in this work through the successful commissioning of the test set-up of the FRS.