TY - GEN
T1 - Development of a flexible manipulator with changing stiffness by granular jamming
AU - Yamane, Shoma
AU - Wakimoto, Shuichi
N1 - Funding Information:
This work was supported in part by Japan Society for the Promotion of Science(JSPS), KAKENHI Grant Number 26420199 and 26249028.
PY - 2017/12/14
Y1 - 2017/12/14
N2 - An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.
AB - An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.
KW - biomimetic robot
KW - pneumatic artificial muscle
KW - soft mechanism
KW - variable stiffness
UR - http://www.scopus.com/inward/record.url?scp=85048485728&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85048485728&partnerID=8YFLogxK
U2 - 10.1109/M2VIP.2017.8211491
DO - 10.1109/M2VIP.2017.8211491
M3 - Conference contribution
AN - SCOPUS:85048485728
T3 - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
SP - 1
EP - 5
BT - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
Y2 - 21 November 2017 through 23 November 2017
ER -