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 language | English |
|---|---|
| Title of host publication | 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1-5 |
| Number of pages | 5 |
| Volume | 2017-December |
| ISBN (Electronic) | 9781509065462 |
| DOIs | |
| Publication status | Published - Dec 14 2017 |
| Event | 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand Duration: Nov 21 2017 → Nov 23 2017 |
Other
| Other | 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 |
|---|---|
| Country | New Zealand |
| City | Auckland |
| Period | 11/21/17 → 11/23/17 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Development of a flexible manipulator with changing stiffness by granular jamming
AU - Yamane, Shoma
AU - Wakimoto, Shuichi
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
VL - 2017-December
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.
ER -