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

Version 2 2024-06-03, 12:41
Version 1 2015-08-20, 14:44
journal contribution
posted on 2015-01-01, 00:00 authored by Amir Moghadam, Abbas KouzaniAbbas Kouzani, K Torabi, Akif KaynakAkif Kaynak, M Shahinpoor
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.

History

Journal

Smart materials and structures

Volume

24

Issue

3

Pagination

1 - 8

Publisher

IOP Press

Location

London, Eng.

ISSN

0964-1726

eISSN

1361-665X

Language

eng

Publication classification

C Journal article; C1 Refereed article in a scholarly journal

Copyright notice

2015, IOP Publishing

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