Design of a pneumatic muscle based continuum robot with embedded tendons

Kang, Rongjie and Guo, Yong and Chen, Lisha and Branson, David T. and Dai, Jian S. (2016) Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Transactions on Mechatronics (99). ISSN 1083-4435

[img]
Preview
PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview

Abstract

Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles (TEPMs). The pneumatic muscles are used to achieve large scale movements for preliminary positioning while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A 3-dimensional (3-D) dynamic model of the robot is presented using a mass-damper-spring based network, in which elastic deformation, actuating forces and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system.

Item Type: Article
Additional Information: (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Keywords: Hybrid actuation, Continuum robots, Pneumatic muscles, Embedded tendons
Schools/Departments: University of Nottingham, UK > Faculty of Engineering
Identification Number: https://doi.org/10.1109/TMECH.2016.2636199
Depositing User: Eprints, Support
Date Deposited: 02 Feb 2017 13:13
Last Modified: 02 Feb 2017 23:13
URI: http://eprints.nottingham.ac.uk/id/eprint/40263

Actions (Archive Staff Only)

Edit View Edit View