A hybrid continuum robot based on pneumatic muscles with embedded elastic rods

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A hybrid continuum robot based on pneumatic muscles with embedded elastic rods
	Liu JG(刘金国)3 ; Kang RJ(康荣杰)2; Dai JS(戴建生)1,2; Chen LS( 陈丽莎 )4; Sun CJ(孙慈晶)2
刊名	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
	2019
页码	1-11
关键词	Continuum robots hybrid actuation pneumatic muscles elastic rods variable stiffness statics model
ISSN号	0954-4062
产权排序	3
英文摘要	Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.
语种	英语
资助机构	Natural Science Foundation of China (Grant No. 51875393, 51605329, 51535008, and 51721003) ; International Collaboration Programme No. B16034 ; Tianjin Municipal Science and Technology Department Programme (Grant No. 17JCQNJC03600)
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24247]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Kang RJ(康荣杰)
作者单位	1.Centre for Robotics Research, School of Physical Sciences and Engineering, King's College, London, United Kingdom 2.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, International Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 4.School of Mechanical Engineering, Tianjin Polytechnic University, Tianjin, China
推荐引用方式 GB/T 7714	Liu JG,Kang RJ,Dai JS,et al. A hybrid continuum robot based on pneumatic muscles with embedded elastic rods[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2019:1-11.
APA	Liu JG,Kang RJ,Dai JS,Chen LS,&Sun CJ.(2019).A hybrid continuum robot based on pneumatic muscles with embedded elastic rods.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,1-11.
MLA	Liu JG,et al."A hybrid continuum robot based on pneumatic muscles with embedded elastic rods".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (2019):1-11.