Next Article in Journal
A Novel, Low-Cost and Reliable Workbench for Optimal Voltage Distribution on Piezoelectric Array Actuators
Previous Article in Journal
A Novel Actuator System Combining Mechanical Vibration and Magnetic Wheels Capable of Rotational Motion Using Shape Memory Alloy Coils
Previous Article in Special Issue
On Modeling the Bending Stiffness of Thin Semi-Circular Flexure Hinges for Precision Applications
Article Menu

Export Article

Open AccessArticle

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
Author to whom correspondence should be addressed.
Actuators 2019, 8(1), 5;
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)
PDF [3705 KB, uploaded 4 January 2019]


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

Figure 1

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).

Share & Cite This Article

MDPI and ACS Style

Wang, Y.; Xu, Q. Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator. Actuators 2019, 8, 5.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Actuators EISSN 2076-0825 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top