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3D position mapping of continuum arm

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

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Authors

A Al-Ibadi

S Nefti-Meziani

ST Davis



Abstract

Modelling a continuum arm is one of the major
challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, the
mathematical models are presented and validated.

Citation

Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2016, October). 3D position mapping of continuum arm. Presented at International Conference for Students on Applied Engineering, ICSAE 2016, Newcastle UK

Presentation Conference Type Other
Conference Name International Conference for Students on Applied Engineering, ICSAE 2016
Conference Location Newcastle UK
Start Date Oct 20, 2016
End Date Oct 21, 2016
Publication Date Jan 9, 2017
Deposit Date Jun 19, 2017
Publicly Available Date May 15, 2019
Book Title 2016 International Conference for Students on Applied Engineering (ICSAE)
ISBN 9781467390538;-9781467390286
DOI https://doi.org/10.1109/ICSAE.2016.7810151
Publisher URL http://dx.doi.org/10.1109/ICSAE.2016.7810151
Related Public URLs http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7803494
http://ieeexplore.ieee.org/Xplore/home.jsp
Additional Information Event Type : Conference

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