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Development of a novel soft parallel robot equipped with polymeric artificial muscles
journal contribution
posted on 2015-01-01, 00:00 authored by Amir Moghadam, Abbas KouzaniAbbas Kouzani, K Torabi, Akif KaynakAkif Kaynak, M ShahinpoorThis 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.
History
Journal
Smart materials and structuresVolume
24Issue
3Pagination
1 - 8Publisher
IOP PressLocation
London, Eng.Publisher DOI
ISSN
0964-1726eISSN
1361-665XLanguage
engPublication classification
C Journal article; C1 Refereed article in a scholarly journalCopyright notice
2015, IOP PublishingUsage metrics
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