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A hybrid continuum robot based on pneumatic muscles with embedded elastic rods
Sun CJ(孙慈晶)1; Chen LS( 陈丽莎 )2; Liu JG(刘金国)3; Dai JS(戴建生)1,4; Kang RJ(康荣杰)1
Department空间自动化技术研究室
Source PublicationProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
ISSN0954-4062
2019
Pages1-11
Indexed ByEI
EI Accession number20190706513538
Contribution Rank3
Funding OrganizationNatural Science Foundation of China (Grant No. 51875393, 51605329, 51535008, and 51721003) ; International Collaboration Programme No. B16034 ; Tianjin Municipal Science and Technology Department Programme (Grant No. 17JCQNJC03600)
KeywordContinuum robots hybrid actuation pneumatic muscles elastic rods variable stiffness statics model
AbstractContinuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24247
Collection空间自动化技术研究室
Corresponding AuthorKang RJ(康荣杰)
Affiliation1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China
2.School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.Centre for Robotics Research, School of Physical Sciences and Engineering, King's College, London, United Kingdom
Recommended Citation
GB/T 7714
Sun CJ,Chen LS,Liu JG,et al. A hybrid continuum robot based on pneumatic muscles with embedded elastic rods[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2019:1-11.
APA Sun CJ,Chen LS,Liu JG,Dai JS,&Kang RJ.(2019).A hybrid continuum robot based on pneumatic muscles with embedded elastic rods.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,1-11.
MLA Sun CJ,et al."A hybrid continuum robot based on pneumatic muscles with embedded elastic rods".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (2019):1-11.
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