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Keywords = double bend pneumatic muscle actuator (DB-PMA)

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14 pages, 5477 KiB  
Article
Design, Kinematics and Controlling a Novel Soft Robot Arm with Parallel Motion
by Alaa Al-Ibadi, Samia Nefti-Meziani and Steve Davis
Robotics 2018, 7(2), 19; https://doi.org/10.3390/robotics7020019 - 17 May 2018
Cited by 18 | Viewed by 11335
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 [...] Read more.
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. Full article
(This article belongs to the Special Issue Soft Machines: Integrating Sensing, Actuation and Computation)
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