Abstract
The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs). The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.
Highlights
The pneumatic muscle actuator (PMA) is a soft, deformable fluid actuator able to contract and to exert a tension force when supplied with a given air pressure
Due to its soft surface, the PMA can work with human, contact the human body and handle fragile objects
Thanks to the high power-to-weight ratio of the PMA, it is expected that such an artificial arm can help strengthen the force output of a normal human arm or assist some handicapped person
Summary
The pneumatic muscle actuator (PMA) is a soft, deformable fluid actuator able to contract and to exert a tension force when supplied with a given air pressure. One advantage of the PMA is its ability to simulate the real human muscle behaviors and motions. It has been widely discussed and researched in the past several years. Due to its soft surface, the PMA can work with human, contact the human body and handle fragile objects. Such an actuator already finds many applications in the field of medical engineering, medical welfare system. A novel human-friendly artificial flexible robot arm using four parallel-connected PMAs is developed. Two different structures of PMA are firstly outlined
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