Development of a flexible manipulator with changing stiffness by granular jamming

Shoma Yamane, Shuichi Wakimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-5
Number of pages5
Volume2017-December
ISBN (Electronic)9781509065462
DOIs
Publication statusPublished - Dec 14 2017
Event24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand
Duration: Nov 21 2017Nov 23 2017

Other

Other24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
CountryNew Zealand
CityAuckland
Period11/21/1711/23/17

Fingerprint

Flexible Manipulator
Flexible manipulators
Jamming
Muscle
Stiffness
Artificial muscle
Bending (deformation)
Rubber
Nerve
Manipulator
Torsional stress
Manipulators
Torsion
Actuator
Actuators

Keywords

  • biomimetic robot
  • pneumatic artificial muscle
  • soft mechanism
  • variable stiffness

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Optimization

Cite this

Yamane, S., & Wakimoto, S. (2017). Development of a flexible manipulator with changing stiffness by granular jamming. In 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 (Vol. 2017-December, pp. 1-5). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/M2VIP.2017.8211491

Development of a flexible manipulator with changing stiffness by granular jamming. / Yamane, Shoma; Wakimoto, Shuichi.

2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. Vol. 2017-December Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-5.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamane, S & Wakimoto, S 2017, Development of a flexible manipulator with changing stiffness by granular jamming. in 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017, Auckland, New Zealand, 11/21/17. https://doi.org/10.1109/M2VIP.2017.8211491
Yamane S, Wakimoto S. Development of a flexible manipulator with changing stiffness by granular jamming. In 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. Vol. 2017-December. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-5 https://doi.org/10.1109/M2VIP.2017.8211491
Yamane, Shoma ; Wakimoto, Shuichi. / Development of a flexible manipulator with changing stiffness by granular jamming. 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. Vol. 2017-December Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-5
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