Abstract
According to the created robot theatre script, a turtle robotic system was developed for performance. Especially, a flexible neck mechanism with continuous curvature was designed for role playing, and friendly interaction with human actors and audience. It is a cable-driven mechanism actuated by four DC servo motors and worm gear reducers. The neck mechanism is composed of multiple lightweight spring modules, realizing continuous shape change and reducing the total mass of the robotic system. A variety of bending motions of the neck are achieved by rope driving way. They are used to simulate various actions of a real turtle’s neck. Moreover, an embedded controller with real-time operation system was developed to control the neck. At last, a robotic prototype was manufactured and several experiments were performed. The results showed that the developed robot meets the requirements of drama performance, and the action of the neck is flexible, lively and vibrant.
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Acknowledgement
This work is supported by Shenzhen Development and Reform Commission (Grant No. [2014]1507), and the Basic Research Program of Shenzhen (JCYJ20130329153437293, JCYJ20140417172417095).
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Xu, W., Wang, H., Hu, Z., Liang, G. (2016). The Flexible Neck Mechanism Design and Control of a Turtle Robot for Performance at Digital Stage. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_45
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DOI: https://doi.org/10.1007/978-3-319-23327-7_45
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