A Novel Actuator for Underwater Robots

Author

Ku, Kenneth K K ; Bradbeer, Robin S. ; Lam, Katherine K Y ; Yeung, Lam F. ; Li, Robin C W

Author_Institution

Dept. of Electron. Eng., City Univ. of Hong Kong, Kowloon, China

Volume

34

Issue

3

fYear

2009

fDate

7/1/2009 12:00:00 AM

Firstpage

331

Lastpage

342

Abstract

Pneumatic muscles have been used for a number of years as actuators in robotic systems, usually for those that mimic human actions. They are most commonly used in systems designed to aid physically handicapped people. This feasibility study reports mechanical testing and modeling results for the Shadowtrade artificial muscle pneumatic actuator working in both air and underwater. The static and dynamic tension-contraction measurements were recorded through both the force and contraction relationship test and the dynamic response and time relationship test. A model of the properties of the muscle working in water was derived from the measurements of the tests that can be considered for its feasibility for use in undersea robotics.

Keywords

artificial limbs; marine systems; pneumatic actuators; robot dynamics; artificial muscle; mechanical testing; pneumatic actuator; pneumatic muscles; robotic systems; tension-contraction measurements; undersea robotics; underwater robots; Actuator; pneumatic muscles; robots; underwater;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.2009.2014928

Filename

5175294