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Robotics 2018, 7(2), 19; https://doi.org/10.3390/robotics7020019

Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion

1
School of Computing, Science & Engineering, University of Salford, Salford M5 4WT, UK
2
Computer Engineering Department, University of Basrah, Basrah 61004, Iraq
*
Author to whom correspondence should be addressed.
Received: 19 March 2018 / Revised: 10 May 2018 / Accepted: 16 May 2018 / Published: 17 May 2018
(This article belongs to the Special Issue Soft Machines: Integrating Sensing, Actuation and Computation)
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Abstract

This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizontal and vertical movements of the actuator distal ends. The kinematics for the proposed actuator are illustrated and experiments conducted to validate its unique features. Furthermore, a continuum robot arm with the ability to move in parallel (horizontal displacement) is designed with a single DB-PMA and a two-finger soft gripper. The performance of the soft robot arm presented is explained, then another design of the horizontal motion continuum robot arm is proposed, using two self-bending contraction actuators (SBCA) in series to overcome the payload effects on the upper half of the soft arm. View Full-Text
Keywords: snake lateral undulation locomotion; double bend pneumatic muscle actuator (DB-PMA); self-bending contraction actuator (SBCA); soft robot arm; horizontal motion snake lateral undulation locomotion; double bend pneumatic muscle actuator (DB-PMA); self-bending contraction actuator (SBCA); soft robot arm; horizontal motion
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Al-Ibadi, A.; Nefti-Meziani, S.; Davis, S. Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion. Robotics 2018, 7, 19.

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