3D position mapping of continuum arm

Al-Ibadi, AFA, Nefti-Meziani, S and Davis, ST 2017, 3D position mapping of continuum arm , in: International Conference for Students on Applied Engineering, ICSAE 2016, 20-21 Oct. 2016, Newcastle UK.

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Abstract

Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, the mathematical models are presented and validated.

Item Type: Conference or Workshop Item (Paper)
Schools: Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre (SIRC)
Journal or Publication Title: Proceeding of International Conference for Students on Applied Engineering (ICSAE),
Publisher: IEEE
Related URLs:
Depositing User: ST Davis
Date Deposited: 19 Jun 2017 10:38
Last Modified: 08 Dec 2017 10:05
URI: http://usir.salford.ac.uk/id/eprint/42636

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