Title :
Applying a flexible microactuator to robotic mechanisms
Author :
Suzumori, Koichi ; Iikura, S. ; Tanaka, Hiroshisa
Author_Institution :
Toshiba Corp., Kawasaki, Japan
Abstract :
A flexible microactuator (FMA) driven by an electropneumatic (or electrohydraulic) system has been developed. It has three degrees of freedom-pitch, yaw, and stretch-making it suitable for robotic mechanisms such as fingers, arms, or legs. It is made of fiber-reinforced rubber, and the mechanism is very simple, enabling miniature robots without conventional link mechanisms to be designed. Serially connected FMAs act as a miniature robot manipulator. The kinematics and control algorithm for this type of robot are presented. FMAs combined in parallel act as a multifingered robot hand, with each FMA representing a finger. An algorithm for the cooperative control for such FMAs, the stable region for holding, and its performance have been developed.<>
Keywords :
actuators; electrohydraulic control equipment; electropneumatic control equipment; kinematics; robots; arms; control algorithm; cooperative control; fingers; flexible microactuator; kinematics; legs; miniature robots; multifingered robot hand; pitch; robot manipulator; robotic mechanisms; stretch; yaw; Arm; Electrohydraulics; Fingers; Kinematics; Leg; Legged locomotion; Manipulators; Microactuators; Robots; Rubber;
Journal_Title :
Control Systems, IEEE
