TY - GEN
T1 - Development of a thin pneumatic rubber actuator generating 3-DOF motion
AU - Toyama, Yu
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
Publisher Copyright:
© 2016 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2016
Y1 - 2016
N2 - In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.
AB - In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal direction and bend in any direction by changing the applied air pressure pattern to the artificial muscles. In this paper, structure of the actuator is proposed and the fabrication process is established. The developed prototype actuator is configured with three artificial muscles of length 50[mm], width 5[mm] and thickness 2.6[mm]. The bending motion with the minimum radius of curvature of 21.3[mm] and contraction motion with the maximum displacement of 9.3 [mm] in the longitudinal direction are performed.
UR - http://www.scopus.com/inward/record.url?scp=85016792534&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2016.7866491
DO - 10.1109/ROBIO.2016.7866491
M3 - Conference contribution
AN - SCOPUS:85016792534
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 1215
EP - 1220
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -