Development of a novel soft parallel robot equipped with polymeric artificial muscles

被引：64

作者：

Moghadam, Amir Ali Amiri ^{[1
]}

Kouzani, Abbas ^{[1
]}

Torabi, Keivan ^{[2
]}

Kaynak, Akif ^{[1
]}

Shahinpoor, Mohsen ^{[3
]}

机构：

[1] Deakin Univ, Sch Engn, Geelong, Vic 3216, Australia

[2] Univ Kashan, Fac Engn, Dept Mech Engn, Kashan, Iran

[3] Univ Maine, Dept Mech Engn, Orono, ME USA

来源：

SMART MATERIALS AND STRUCTURES | 2015年 / 24卷 / 03期

关键词：

soft parallel robot; flexible joints; flexible links; bio-micromanipulation; METAL COMPOSITES; ROBUST-CONTROL; ACTUATORS;

D O I：

10.1088/0964-1726/24/3/035017

中图分类号：

TH7 [仪器、仪表];

学科分类号：

0804 ; 080401 ; 081102 ;

摘要：

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

引用

页数：8

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