Soft manipulator using thin McKibben actuator
Soft manipulator using thin McKibben actuator
复制标题
使用薄型 McKibben 执行器的软机械手
DOI：
10.1109/aim.2018.8452698
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
K. Suzumori
中科院分区：
文献类型：
--
作者：
A. Faudzi;N. Azmi;Mostafa Sayahkarajy;Wong Liang Xuan;K. Suzumori
本文介绍了一种利用McKibben肌肉作为柔性机械臂驱动的连续可变形体的研制。该结构的灵感来自蛇体结构，使用冗余的薄McKibben执行器，没有旋转关节。机器人的结构由32厘米厚的可弯曲塑料板和身体两侧的四块薄肌肉组成。这些纤细的肌肉由外径1.3毫米的硅胶管组成。该系统构建了一个灵活的机构，利用该机构执行各种类型的运动。对该机械手进行了16种弯曲运动输入，并对3种压力输入的实验数据进行拟合，建立了系统响应模型。使用Tracker™软件捕获弯曲体的每个阶段和运动，以分析机器人的运动。该机器人成功地演示了不同时延的蛇形平滑运动，并进行了取放实验。
This paper introduces the development of a continuously deformable body driven using the McKibben's muscles as a soft manipulator. The structure is inspired by the snake body structure using a redundant arrangement of the thin McKibben actuator without rotational joints. The robot structure is built using 32 cm thin bendable plastic plate and four thin muscles at two sides of the body. The thin muscles are made of silicone tubes with 1.3 mm outer diameter. The system constructs a flexible mechanism which using the actuators performs various types of motions. The manipulator was tested with sixteen inputs for bending motions and the system response was modeled by fitting a surface on the experimental data for three input pressure. Every phase of the bending body and motions were captured for analysis of the robot's movement using Tracker ™ software. The robot successfully demonstrates smooth snake-like motions with different time delays and performs pick and place experiment.