Long bending rubber mechanism combined contracting and extending tluidic actuators

Koichi Suzumori, Shuichi Wakimoto, Kenta Miyoshi, Kazuhiro Iwata

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

19 Citations (Scopus)

Abstract

This study aims at development of a multi-directional bending mechanism with thin and long body driven by fluidic rubber actuators. Generally bending mechanisms with fluidic rubber actuators can have advantages of smooth and continuous motion, however because of their low stiffness it is difficult to generate high output force. To solve this problem, we have proposed a novel bending mechanism combined with contracting and extending rubber actuators. By bundling rubber actuators with different types, the developed bending mechanism can have the high stiffness. In this report, optimized extending and contracting rubber actuators are made basis on a McKibben actuator, then they are combined to be the bending mechanism. Experimentally stiffness of the mechanism is measured and is compared with a bending mechanism bundled with same motion type actuators. Resulting high stiffness can be recognized by the proposed mechanism. Additionally, a very long bending mechanism, which is 7m in length, is developed and its motion is demonstrated.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4454-4459
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Suzumori, K., Wakimoto, S., Miyoshi, K., & Iwata, K. (2013). Long bending rubber mechanism combined contracting and extending tluidic actuators. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4454-4459). [6696996] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696996