Design of two segments continuum robot arm based on pneumatic muscle actuator (PMA)

Al-Ibadi, A; Nefti-Meziani, S; Davis, ST; Theodoridis, T

Abstract

This paper proposes a novel continuum robot
arm based on the pneumatic muscle actuator (PMA). The
simple design of the extensor and the contractor PMAs are
used to implement the extension and the contraction sections respectively. Five actuators are used in each section to achieve an elongation and bending for the top section and a contraction and bending for the bottom section. Then, four self-bending contraction actuators (SBCA) are used instead of the five contractions PMA to enhance the bending performances. The performances of the proposed soft robot arm showed the advantages of using a biological inspiration robot arm for the unique features in comparison to its weight and cost.

Citation

Al-Ibadi, A., Nefti-Meziani, S., Davis, S., & Theodoridis, T. (2018, September). Design of two segments continuum robot arm based on pneumatic muscle actuator (PMA). Presented at 24th International Conference on Automation & Computing, Newcastle, UK

• Presentation Conference Type: Other
• Conference Name: 24th International Conference on Automation & Computing
• Conference Location: Newcastle, UK
• Start Date: Sep 6, 2018
• End Date: Sep 7, 2018
• Acceptance Date: Jul 14, 2018
• Publication Date: Jul 1, 2019
• Deposit Date: Nov 9, 2018
• Book Title: 2018 24th International Conference on Automation and Computing (ICAC)
• ISBN: 9781862203419;-9781538648919
• Publisher URL: http://dx.doi.org/10.23919/IConAC.2018.8749087
• Related Public URLs: http://www.cacsuk.co.uk/index.php/conferences/icac
• Additional Information: Event Type : Conference