Development of a novel soft parallel robot equipped with polymeric artificial muscles

Moghadam, Amir Ali Amiri, Kouzani, Abbas Z., Torabi, Keivan, Kaynak, Akif and Shahinpoor, Mohsen 2015, Development of a novel soft parallel robot equipped with polymeric artificial muscles, Smart materials and structures, vol. 24, no. 3, pp. 1-8, doi: 10.1088/0964-1726/24/3/035017.

Attached Files
Name Description MIMEType Size Downloads

Title Development of a novel soft parallel robot equipped with polymeric artificial muscles
Author(s) Moghadam, Amir Ali Amiri
Kouzani, Abbas Z.ORCID iD for Kouzani, Abbas Z.
Torabi, Keivan
Kaynak, AkifORCID iD for Kaynak, Akif
Shahinpoor, Mohsen
Journal name Smart materials and structures
Volume number 24
Issue number 3
Start page 1
End page 8
Total pages 8
Publisher IOP Press
Place of publication London, Eng.
Publication date 2015
ISSN 0964-1726
Keyword(s) bio-micromanipulation
flexible joints
flexible links
soft parallel robot
Science & Technology
Instruments & Instrumentation
Materials Science, Multidisciplinary
Materials Science
Summary This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.
Language eng
DOI 10.1088/0964-1726/24/3/035017
Field of Research 091306 Microelectromechanical Systems (MEMS)
Socio Economic Objective 861503 Scientific Instruments
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, IOP Publishing
Persistent URL

Connect to link resolver
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 30 times in TR Web of Science
Scopus Citation Count Cited 33 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 567 Abstract Views, 1 File Downloads  -  Detailed Statistics
Created: Wed, 07 Oct 2015, 09:08:44 EST

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact