VACUUM OPERATED CONTINUUM MANIPULATOR
FIELD OFINVENTION;
The present invention generally relates to a vacuum operated continuum manipulator. More particularly, it relates to a pilot operated directional control valves for controlling the manuverability of the continuum manipulator.
BACKGROUND;
A robotic arm is majorly used in manufacturing sectors and also in industrial applications such as in material handling, welding and painting, etc., wherein the robotic arm is a type of mechanical device which are connected by joints and allows either rotational motion or linear motion. Usually, the robotic arms are programmable and controlled by a stepper motor connected to each joint. These types of robotic arms are rigid-link manipulators.
The conventional manipulators are expensive and are composed of rigid and hard materials. The traditional manipulators are limited by its joined motion and generally offer discrete motion steps. Hence, these conventional manipulators might have pinch-points adjacent their joints, such as parts of human or animal might be pinched. For instance, the surgical tools used inside or outside biological body, these pinch points might catch the flesh tissue, or other delicate parts within them. It would be beneficial to provide a flexible manipulator with no or with few pinch points.
The other type of robotic arm is a continuum manipulator that resembles biological tentacles and trunks, where this type of manipulator uses backbone for support. The continuum manipulators are more flexible and have compliant structure. These manipulator uses fluids to actuate the movement of arm by change in fluid pressure within the arm.

There exist few continuum manipulators of robotic arm that puts an effort to control the movement of manipulator with the help of pressurized fluid from vacuum valves and bellows.
United States Patent Number 5697285 to Nappi et al, entitled as "Actuators for simulating muscle activity in robotics" describes a microprocessor-based control of robotic system comprising a vacuum means, micromachined valves and bellows, wherein the vacuum means is used to generate vacuum pressure and transmit the fluid to bellows. The micromachined valves is used to regulate the flow of pressurized fluid within the bellows and controls the bellow motion.
United States application Number 20080107509 to Preston Whitcomb et al., entitled as "Vacuum end effector for handling highly shaped substrates" describes a robot arm with vacuum orifice and plurality of vacuum valves switched by digital signal processor, wherein the arm is controlled based on the vacuum force modulation.
However, the robotic arm described in the prior art, uses valve which needs external force to initiate the working operation and the use of fluid restricts the limited degree of freedom in work envelope.
Thus, there is a need for a continuum manipulator with higher degree of freedom and less complex structure to handle.
OBJECT OF THE INVENTION;
The principal objective of the present invention is to provide a flexible vacuum operated continuum manipulator with meshed bellows for continuous motion over the range of work envelope by using pneumatic circuit.
Another objective of the present invention is to provide a programmed algorithm to control the motion of vacuum operated robotic arm using microprocessor.

Still another objective of the present invention is to provide a vacuum operated robotic arm which is controlled by a wireless communication.
Yet another objective of the present invention is to free up most of the internal space and in turn provide decrease in weight.
SUMMARY;
To achieve the above-mentioned objectives, the present invention provides a vacuum operated flexible vacuum operated continuum manipulator comprising an air compressor, a venturi vacuum generator, an Arduino microprocessor, plurality of bellows, plurality of pilot operated solenoid directional control valves (DCVs) and plurality of relays.
According to the present invention, the vacuum operated robotic arm comprises the microprocessor which processes the code and controls the operation of three different pilot operated solenoid directional control valves (DCVs) by controlling the relay connected to it, wherein the three relays are connected to the three different pilot operated solenoid DCVs. The relays are act as a switch which govern the spool movement in DCVs. Initially, the air compressor initiates the spool movement in the DCVs using air pressure and thereby guides the vacuum to specific bellow, where vacuum is generated by the venturi vacuum generator. The movement of the bellows in the required direction is based on the compression of particular bellow. The vacuum generator is placed before the DCVs to reduce the requirement number of venturi vacuum generators.
In one embodiment, the vacuum operated robotic arm is controlled by a wireless communication may be, but not limited to Bluetooth module, where Bluetooth serial controller is connected to the Arduino microprocessor to control the motion of robotic arm. A Bluetooth sensor was used which was controlled by, but not limited to a mobile application, Bluetooth serial controller. The sensor was connected to the relay and the arduino signals sent to the relay based on the algorithm programmed into it. The feedback loop is open but can be modified to a closed one for better operation. The Arduino microprocessor actuates the valve and thereby

activates the bellow. Thus the bellow and the robotic arm is controlled entirely by, but not limited to a common mobile phone.
This summary is provided to introduce simplified concepts of "vacuum operated robotic arm ", which are further described below in the detailed description. This summary is not intended to identify the essential features of the claimed subject matter, nor it is intended for use in determining the scope of the claimed subject matter.
BRIEF DESCRIPTION OF DRAWINGS;
The detailed description is set forth with reference to the accompanying figures in which:
FIG. 1 represents an overall system which is setup within a steel casing and fabricated, as an embodiment of the present invention.
FIG. 2 represents the circuit diagram of vacuum operated continuum manipulator with mesh bellows, pilot operated solenoid directional control valves (DCVs) and vacuum generator;
FIG. 3represents the block diagram of continuum manipulator workflow, as an embodiment of the present invention.
FIG. 4 represents the circuit diagram of controlling the directional control valves (DCVs) wirelessly using Bluetooth module, as an embodiment of the present invention.
FIG. 5 A represents a single bending bellow used in pneumatic circuit, as an embodiment of the present invention.
FIG. 5B represents double bending bellows used in pneumatic circuit, as an embodiment of the present invention.

REFERENCE NUMERALS;
1 - Bellows
2 - Casing
3 - Arduino Microprocessor
4 - Bluetooth Module
5 - Relay
6 - Bread Board
7 - Power Supply
8 - Solenoid Directional Control Valve
9 - Vacuum Generator
10 - Pressure Regulator
11-Shut-off Valve
12 - Compressor
DETAILED DESCRIPTION OF THE INVENTION;
Described herein is a flexible robotic arm i.e. a continuum manipulator with a use of pneumatic circuit that is powered and controlled electrically. The continuum manipulator has greater flexibility with a use of meshed bellows (1) and hence it can be used for five / six degrees of freedom (DOF) in a single arm.
The preferred embodiment of the present invention as shown in FIG. 1 has a vacuum operated robotic arm comprising three bellows (1) which are tied to each other, an air compressor(12), a pressure regulator (10, a venturi vacuum generator (9), three pilot operated solenoid directional control valves (8) (A, B, C) are connected with three relays (5). The pilot operated solenoid directional control valves (8) (A, B, C) are used for direction control which are controlled using an Arduino microprocessor (3).The air compressor (12) initiates the spool movement in the directional control valve (DCV) (8) using air pressure and thereby guides the vacuum to specific bellow (1). The vacuum is generated by the venturi vacuum generator (9) which is connected before the DCVs and transit the vacuum to bellows (1) based on the spool

movement in the DCV as shown in FIG. 2. The dotted lines in Fig. 2 connecting the components represent the vacuum lines. The solid lines in Fig. 2 connecting the components represent the transmission of compressed air. Hence, the movement of bellows (1) in the required direction is based on the compression of particular bellow(l), where the bellows (1) are covered as leak proof fixture.
The vacuum operated robotic arm includes a microprocessor but not limited to Arduino, raspberry pi, which processes the code fed in it and controls the operation of three different solenoid directional control valves (8) (DCVs) as shown in FIG. 3. As explained earlier, the pilot operated solenoid DCV (8) uses the air pressure from the compressor (12) to initiate the spool movement in the DCV (8) and guides the vacuum to specific bellow (1), wherein the bellows(l) can be a single bending or double bending bellows(l).Referring to FIG. 5, the bellows (1) are connected as per the proposed layout, which shows the bending in the bellow (1) subassembly when the actuation is allowed in only one bellow (1) and the bending when two bellows (1) are actuated simultaneously.
In another embodiment of the present invention, the three different directional control valves (8) (DCVs) are controlled by a wireless communication, but not limited to Bluetooth module (4), where Bluetooth serial controller is connected to the microprocessor for controlling the operation of three relays (5). Thus, the spool movement in DCV is controlled by the relay (5) connected via breadboard as shown in FIG. 4.
The vacuum operated continuum manipulator of the present invention has the following advantages, but not limiting to:
• Greater flexibility
• Easy to access materials
• Control the arm using mobile via Bluetooth module(4).
In further implementations, the vacuum operated arm expansion is performed with minimal amounts of air or any other lighter gas. The obtained pressure difference would be able to produce higher deflection and movement as compared to a venturi vacuum generator (9).

While the foregoing written description of the invention enables one of ordinary skill to make and use what is considered presently to be the best mode thereof those of ordinary skill will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The invention should therefore not be limited by the above described embodiment, method, and examples, but by all embodiments and methods within the scope of the invention as claimed.

I/We Claim;
1. A vacuum operated continuum manipulator, comprising:
a. a plurality of bellows (1) which are used as an arm;
b. a plurality of directional control valves (8) (DCVs) which are connected to the
plurality of bellows(l);
c. a plurality of relays (5) which are used to govern a spool movement in the plurality
of directional control valves (DCVs)(8);
d. a processor which is used to control the plurality of relays (5)
e. a vacuum generator (9) which is used to transits vacuum to the plurality of bellows
(1); and
f an air compressor (12) which is used to initiate the spool movement in the plurality of directional control valves (DCVs) (8).
2. The manipulator as claimed in claim 1, wherein the directional control valves (DCV) (8) are pilot operated solenoid valve.
3. The manipulator as claimed in claim 1, wherein the manipulator is controlled using wireless communication.
4. The manipulator as claimed in claim 1, wherein the plurality of bellows (1) are single bending or double bending bellows(l).
5. The manipulator as claimed in claim 1, wherein the movement of bellow (1) is based on the vacuum guided to it.
6. The manipulator as claimed in claim 1, wherein the vacuum generator (9) is a venturi vacuum generator.

7. The manipulator as claimed in claim 1, wherein the vacuum generator (9) is placed before the plurality of directional control valves (DCVs) (8).