Development of continuum manipulator actuated by thin McKibben pneumatic artificial muscle

Abstract

A compliant, light, multi-joint continuum manipulator that can be actuated using 2 mm diameter of thin McKibben pneumatic artificial muscles is developed in this study. The mechanical properties of the thin McKibben pneumatic artificial muscles are first presented and its performance is tested experimentally. The mass of the manipulator is less than 0.35 kg, which is much lighter than the conventional robotic manipulator with a rigid body and actuators. The kinematics model and the compliance model of the manipulator are established. The experimental results indicate that the manipulator can achieve expansion, contraction, and complex three-dimensional movements, and the maximal error is smaller than 7 mm. In addition, the results of a collision impact test show that the continuum manipulator exhibits high compliance and robustness. After the manipulator was hit, it can effectively reduce the damage caused by external impacts resulting from its own antagonistic compliance, and return to its original position with maximal recovery error of 5.08 mm. This manipulator can be used in industrial applications, medical treatment, military detection, rescue and disaster relief, etc.