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 | |
| 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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