Abstract
This paper presents the structural behaviour of a novel inflatable manipulation arm, which consists of inflatable coated fabric tubes and bellows-type joints. In order to minimise the actuation moment, a rotational joint with creases, analogous to a spacesuit elbow, has been introduced. The biaxial tensile and shear tests have been carried out to evaluate the elastic constants of the PVC-coated polyester fabric membranes of the inflatable arm. Finite element analysis has been carried out to predict the mechanical behaviour of the inflated arm structure. Effects of the internal pressure on the arm deflection, and influence of crease geometric parameters, e.g. number, width and depth on the rotation performance are evaluated. A prototype of the inflatable arm has been developed to perform an experimental investigation on its rotational behaviour. Good correlations have been found between the predictions and the experimental results. The current work on a representative single-joint inflatable arm unit provides the rationale and knowledge to develop long range multi-joint manipulators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
