A novel inflatable robot with constant and continuous volume
A novel inflatable robot with constant and continuous volume
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一种新型恒定连续体积充气机器人
DOI：
10.1109/icra.2011.5979669
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Barraco
中科院分区：
文献类型：
--
作者：
Sebastien Voisembert;A. Riwan;N. Mechbal;A. Barraco
可充气结构已经用于机器人技术中，以构建刚性和轻质的可充气链接。此外，这些链接是兼容的，它们可以安全地用于与关键设施交互的机器人。然而，到目前为止，具有可充气结构的联动装置总是由通过接头分开的独立的可充气连杆组成。但是连接处比充气连接处更重、更不僵硬或更不安全。因此，在本文中，我们提出了一种新的设计，充气机器人的关节具有类似的机械特性的链接。第一个原型，模型的关节和一些实验验证也将提交。
Inflatable structures are already used in robotics to build stiff and light inflatable links. Moreover, those links are compliant and they can be safely used in robots interacting with critical installations. Nevertheless, until now, linkages with an inflatable structure have always been composed of independent inflatable links separated by joints. But the joints are heavier, less stiff, or less safe than the inflatable links. So in this paper, we present a new design of inflatable robots with joints having similar mechanical characteristics as the links. A first prototype, a model of the joints and some experimental validation will also be presented.