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Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator

Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, China
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Actuators 2019, 8(1), 5; https://doi.org/10.3390/act8010005
Received: 28 November 2018 / Revised: 27 December 2018 / Accepted: 28 December 2018 / Published: 4 January 2019
(This article belongs to the Special Issue Design and Control of Compliant Manipulators)
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Abstract

This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks. View Full-Text
Keywords: compliant mechanism; soft robot; soft manipulator; visual servo control; collaborative operation compliant mechanism; soft robot; soft manipulator; visual servo control; collaborative operation
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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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Wang, Y.; Xu, Q. Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator. Actuators 2019, 8, 5.

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