Modeling of extensible pneumatic actuator with bellows (EPAB) for continuum arm

Taigo Yukisawa, Yasuaki Ishii, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

The ability of a continuum arm is influenced by the performance of an actuator. Although several extensible pneumatic actuators have been proposed in previous research, balancing strength with large strain is still a challenge. We propose an extensible pneumatic actuator with bellows (EPAB) that consists of a rubber tube and a highly packed bellows sleeve. We propose a parametric model of the EPAB that can comprise various bellows and rubber tubes. We measured the basic properties of four actuators with different parameters to verify the proposed model. We conducted evaluation experiments under two conditions: constant length with variable pressure and constant pressure with variable length. The experimental results indicate that the proposed model can roughly predict the measured data. The proposed extensible actuator has an unloaded strain of up to 350% at a pressure of 0.6 MPa.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2303-2308
Number of pages6
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - Mar 23 2018
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: Dec 5 2017Dec 8 2017

Publication series

Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period12/5/1712/8/17

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

Fingerprint Dive into the research topics of 'Modeling of extensible pneumatic actuator with bellows (EPAB) for continuum arm'. Together they form a unique fingerprint.

Cite this