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Design of a pneumatic muscle based continuum robot with embedded tendons

Kang, Rongjie; Guo, Yong; Chen, Lisha; Branson, David T.; Dai, Jian S.

Authors

Rongjie Kang

Yong Guo

Lisha Chen

David T. Branson

Jian S. Dai



Abstract

© 1996-2012 IEEE. Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles. The pneumatic muscles are used to achieve large-scale movements for preliminary positioning, while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A three-dimensional dynamic model of the robot is presented using a mass-damper-spring-based network, in which elastic deformation, actuating forces, and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system.

Citation

Kang, R., Guo, Y., Chen, L., Branson, D. T., & Dai, J. S. (2017). Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Transactions on Mechatronics, 22(2), 751-761. https://doi.org/10.1109/TMECH.2016.2636199

Journal Article Type Article
Acceptance Date Dec 6, 2016
Online Publication Date Dec 6, 2016
Publication Date Apr 1, 2017
Deposit Date Feb 2, 2017
Publicly Available Date Feb 2, 2017
Journal IEEE/ASME Transactions on Mechatronics
Print ISSN 1083-4435
Electronic ISSN 1083-4435
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 22
Issue 2
Pages 751-761
DOI https://doi.org/10.1109/TMECH.2016.2636199
Keywords Hybrid actuation, Continuum robots, Pneumatic muscles, Embedded tendons
Public URL http://eprints.nottingham.ac.uk/id/eprint/40263
Publisher URL http://ieeexplore.ieee.org/document/7775004
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf
Additional Information (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.

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Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf





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