Design of an artificial muscle continuum robot

Michael B. Pritts; Christopher D. Rahn

doi:10.1109/ROBOT.2004.1302467

Design of an artificial muscle continuum robot

Michael B. Pritts, Christopher D. Rahn

Research output: Contribution to journal › Conference article › peer-review

108 Scopus citations

Abstract

This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6 - 8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and low cost.

Original language	English (US)
Pages (from-to)	4742-4746
Number of pages	5
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2004
Issue number	5
DOIs	https://doi.org/10.1109/ROBOT.2004.1302467
State	Published - 2004
Event	Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

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10.1109/ROBOT.2004.1302467

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title = "Design of an artificial muscle continuum robot",

abstract = "This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6 - 8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and low cost.",

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issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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AU - Rahn, Christopher D.

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AB - This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6 - 8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and low cost.

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EP - 4746

JO - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

Design of an artificial muscle continuum robot

Abstract

All Science Journal Classification (ASJC) codes

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