Design, kinematics, and controlling a novel soft robot arm with parallel motion

Al-Ibadi, A ORCID: https://orcid.org/0000-0002-0779-8217, Nefti-Meziani, S and Davis, ST ORCID: https://orcid.org/0000-0002-4365-5619 2018, 'Design, kinematics, and controlling a novel soft robot arm with parallel motion' , Robotics, 7 (2) , p. 19.

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Abstract

This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizontal and vertical movements of the actuator distal ends. The kinematics for the proposed actuator are illustrated and experiments conducted to validate its unique features. Furthermore, a continuum robot arm with the ability to move in parallel (horizontal displacement) is designed with a single DB-PMA and a two-finger soft gripper. The performance of the soft robot arm presented is explained, then another design of the horizontal motion continuum robot arm is proposed, using two self-bending contraction actuators (SBCA) in series to overcome the payload effects on the upper half of the soft arm.

Item Type:	Article
Schools:	Schools > School of Computing, Science and Engineering > Salford Innovation Research Centre
Journal or Publication Title:	Robotics
Publisher:	MDPI
ISSN:	2218-6581
Related URLs:	Publisher
Depositing User:	ST Davis
Date Deposited:	24 May 2018 13:43
Last Modified:	15 Feb 2022 23:17
URI:	https://usir.salford.ac.uk/id/eprint/47036

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