3D position mapping of continuum arm

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

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