We designed the arm to be controlled by two elements which are rods running alongside each of the 8

segments comprising the arm. The segments have small loops on the edges of the faces adjacent to each
other which are perpendicular to the plane of motion. The guide elements are threaded through each
of these loops and attach to the end of the last segment. Then, all is need is a mechanism to pull and
release the guide elements at some specified distances at the base of the arm and the effect will be to move
the entire arms position. At first, modeling this behavior seems quite complicated. However, accepting
that there will be error (however small) in the position of the arm allows for signifcant simplifications
to be made, creating a manageable problem. This approach divides out analysis into 3 main sections:
Simplification, Geometric Solution, and Physical Solution.

3.1: Simplification

Our goal is to represent the position of the end point of the arm as a function of the lengths of the
two guide elements. The position of the end point of the arm is easily represented as a function of
the eight angles between each of the guide elements. Hence, we first chose to represent these angles
as a function of the lengths. However, the arclength of the guide elements is difficult to compute as
theoretically the shape of the rod is a piecewise cubic. We found that a linear approximation of the guide
element is sufficient to compute its length with insignificant error (defined in this problem to be less than
1%) even under the extreme circumstance (when the angle between guide elements is maximized). Note
that the total length of the guide element is the sum of the lengths of the guide element pieces along
each segment and connecting each segment.

In order to show that the guide elements can be approximated linearly (give that the only important
factor is arclength) we will compute the arclength of the linear approximation and of the actual cubic
and compare the results.

First we need to compute the maximum angle. Throughout our analysis, the following constants will be
used:

The length of a segment l = 4in

Half the width of a segment d = 1in
3
The radius of the joints between segments r= in
16
3
The radius of the guide elements R= in
64

The maximum angle between segments, max is the angle for which for two segments touch. This is
represented diagramatically below in Figure 1.

Figure 1

From Figure 1 then,

1
 d
max + 2 arctan =
r
2rd 96
tan max = = max .3706959
d2 r2 247

The value for alphamax explains why we chose the arm to be 8 segments. The total angle for 8 segments
is 8max 2.9655672 which is nearly a half of a full rotation. Any more segments, and the arm begins
to bend back on itself. 8 segments allows for the largest range of motion without this happening. Below
in Figure 2 is an illustration of a 2 segment arm equipped with variable names.

Figure 2

The geometry is symmetric between the top and bottom guide elements when the sign of the angle is
changed. Hence, only the bottom segment will need to be approximated in order to demonstrate the
validity of the approximation. Let be the horizontal length of the bottom guide element and let h be the
vertical length of the bottom guide element. Let bl be the length computed by the linear approximation.
Then, from the computed value of max and Figure 2,

d2 r 2 247
cos max = =
d2 + r 2 265
2rd 96
sin max = 2 =
d + r2 265
192
= r + r cos max + d sin max = in
265
36
h = d + r sin max d cos max = in
265
p 12
Sl = 2 + h2 = .737154in
265
We can compute the actual cubic arclength by use of the Euler-Bernoulli beam equation. Below, F is
the total force bending the beam, Y is Youngs modulus of steel (the material of the guide element), I is
the second moment of area of the beam and y is the verical displacement of the beam from the its initial
position as a function of the point being measureds horizontal displacment from its initial position.

dF d4 y
=YI 4 =0
dx dx
Hence, y = C1 x3 + C2 x2 + C3 x + C4 . Then, applying the conditions of the equation that y(0) = 0,
y 0 (0) = 0, y() = h, y 0 () = tan max . Thus, C3 = C4 = 0. Let Sc equal the cubic arclength.

2
 3 2
    
C1 h
=
32 2 C2 tan max
210675
tan max 2h

 
C1 3 8093696
= 3h tan =

C2 60685

max
2
252928
210675 3 60686 2
y= x + x
8093696 252928
Z Z 192 r
p 265 3682669225 2 38354437125 3 399455600625 4
Sc = 1 + y 02 dx = 1+ x + x + x dx .737146in
0 0 15993143296 511780585472 65507914940416

Hence the linear and cubic arclength differ by far less than the acceptable amount (1%).

Next, to demonstrate that no significant stretching along the length of the guide element occurs. To
do so, we must use Youngs elastic deformation equation. In this equation, F is the force, Y is Youngs
modulus of steel, A is the cross-sectional area, and L is the length of the guide element.

L d3 y
F =YA =YI 3
L dx
2 L 4
R = R (6C1 )
L 4
L 3 2
= R C1 .00008579
L 2

Hence, the stretching along the length of the beam is also insignificant. Finally, to compute the maximum
weight which the arm system can support. The minimum yield, P , of A36 steel is 36000 pounds per
square inch. Hence, minimum force (in pounds) which would permanently deform the arm is

F = P A = 360000R2 249lb

With the understanding that a linear approximation of length is sufficient, the problem can now be
approached geometrically.

1 Geometric Constraints
Let bi be the length of the ith segment of the bottom guide element. Let ti be the length of the ith segment
of the top guide element. Let B and T be the total lengths of the bottom and top guide elements. Then,

8
X
bi + 8l = B
i=1
8
X
ti + 8l = T
i=1
265 247 3
b2i = (r + r cos i + d sin i )2 + (d + r sin i d cos i )2 = cos i + sin i
128 128 4

265 247 3
t2i = (r + r cos i d sin i )2 + (d + r sin i + d cos i )2 = cos i sin i
128 128 4

3
2 Physical Constraints
The system will take on the configuration which minimizes the total tension in the guide elements. Let
F (1 , ...8 ) be proportional to the tension (the tension divided by the constants that apply as multipliers)
in the guide elements. By the Euler-Bernoulli beam equation then,

8
X (r + r cos i + d sin i ) tan i 2(d + r sin i d cos i )
F (1 , ...8 ) = +
i=1
(r + r cos i + d sin i )3
(r + r cos i d sin i ) tan i 2(d + r sin i + d cos i )
(r + r cos i d sin i )3

Notice that the geometric and physical constraints are identical for each angle. Hence, the eight
angles which satisfy to two set of conditions are all equal (1 = ... = 8 ). Let the angle = 1 .
Hence,
B
b= l
8
T
t= l
8
 2
265 247 3 B
cos + sin = 4
128 128 4 8
 2
265 247 3 T
cos sin = 4
128 128 4 8
(B 32)2 (T 32)2
 
= arcsin
192

Conjecture with 3-d motion