Design, Implementation, and Kinematics of a Twisting Robot Continuum Arm Inspired by Human Forearm Movements

Al-Ibadi, Alaa ORCID: https://orcid.org/0000-0002-0779-8217, Abbas, Khalid A., Al-Atwani, Mohammed and Al-Fahaam, Hassanin 2022, 'Design, Implementation, and Kinematics of a Twisting Robot Continuum Arm Inspired by Human Forearm Movements' , Robotics, 11 (3) , e55.

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Abstract

In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum arm is inspired by the twisting movements of the human upper limb. In this novel continuum arm, two contractor pneumatic muscle actuators (PMA) are used in parallel, and a self-bending contraction actuator (SBCA) is laid between them to establish the twisting movement. The proposed soft robot arm has additional features, such as the ability to contract and bend in multiple directions. The kinematics for the proposed arm is presented to describe the position of the distal end centre according to the dimensions and positions of the actuators and the bending angle of the SBCA in different pressurized conditions. Then, the rotation behaviour is controlled by a high precision controller system.

Item Type: Article
Journal or Publication Title: Robotics
Publisher: MDPI
ISSN: 2218-6581
SWORD Depositor: Publications Router
Depositing User: Publications Router
Date Deposited: 21 Jun 2022 11:33
Last Modified: 17 Aug 2022 09:31
URI: https://usir.salford.ac.uk/id/eprint/63679

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