Ceiling continuum arm with extensible pneumatic actuators for desktop workspace

Taigo Yukisawa, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

13 被引用数 (Scopus)

抄録

We propose an extensible pneumatic continuum arm that elongates to perform reaching movements and object grasping, and is suspended on the ceiling to prevent interference with human workers in a desktop workspace. The selected actuators with bellows aim to enhance the arm motion capabilities. A single actuator can provide a maximum tension force of 150 N, and the proposed arm has a three-segment structure with a bundle of three actuators per segment. We measured the three-dimensional motion at the arm tip by using an optical motion-capture system. The corresponding results show that the arm can grasp objects with approximate radius of 80 mm and reach any point on the desktop. Furthermore, the maximum elongation ratio is 180%, with length varying between 0.75 m and 2.1 m. Experiments verified that the arm can grasp objects of various sizes and shapes. Moreover, we demonstrate the vertical transportation of objects taking advantage of the arm extensibility. We expect to apply the proposed arm for tasks such as grasping objects, illuminating desktops, and physically interacting with users.

本文言語英語
ホスト出版物のタイトル2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ196-201
ページ数6
ISBN(電子版)9781538645161
DOI
出版ステータス出版済み - 7月 5 2018
外部発表はい
イベント1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, イタリア
継続期間: 4月 24 20184月 28 2018

出版物シリーズ

名前2018 IEEE International Conference on Soft Robotics, RoboSoft 2018

会議

会議1st IEEE International Conference on Soft Robotics, RoboSoft 2018
国/地域イタリア
CityLivorno
Period4/24/184/28/18

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • 制御と最適化
  • モデリングとシミュレーション
  • 機械工学

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