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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.

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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. orcid.org/0000-0002-6292-1214
Torabi, Keivan
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
1361-665X
Keyword(s) bio-micromanipulation
flexible joints
flexible links
soft parallel robot
Science & Technology
Technology
Instruments & Instrumentation
Materials Science, Multidisciplinary
Materials Science
METAL COMPOSITES
ACTUATORS
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 http://hdl.handle.net/10536/DRO/DU:30075907

Document type: Journal Article
Collection: School of Engineering
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