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

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

22 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2303-2308
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータス出版済み - 3月 23 2018
外部発表はい
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, 中国
継続期間: 12月 5 201712月 8 2017

出版物シリーズ

名前2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
2018-January

その他

その他2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
国/地域中国
CityMacau
Period12/5/1712/8/17

!!!All Science Journal Classification (ASJC) codes

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

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