Development of a novel soft parallel robot equipped with polymeric artificial muscles
Data(s) |
01/01/2015
|
---|---|
Resumo |
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. |
Identificador | |
Idioma(s) |
eng |
Publicador |
IOP Press |
Relação |
http://dro.deakin.edu.au/eserv/DU:30075907/moghadam-developmentof-2015.pdf http://doi.org/10.1088/0964-1726/24/3/035017 |
Direitos |
2015, IOP Publishing |
Palavras-Chave | #bio-micromanipulation #flexible joints #flexible links #soft parallel robot #Science & Technology #Technology #Instruments & Instrumentation #Materials Science, Multidisciplinary #Materials Science #METAL COMPOSITES #ACTUATORS |
Tipo |
Journal Article |