Development of a thin pneumatic rubber actuator generating 3-DOF motion

Yu Toyama, Shuichi Wakimoto

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

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1215-1220
Number of pages6
ISBN (Electronic)9781509043644
DOIs
Publication statusPublished - Feb 27 2017
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: Dec 3 2016Dec 7 2016

Other

Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
CountryChina
CityQingdao
Period12/3/1612/7/16

ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Toyama, Y., & Wakimoto, S. (2017). Development of a thin pneumatic rubber actuator generating 3-DOF motion. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 1215-1220). [7866491] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866491