Title :
Prototyping pneumatic group actuators composed of multiple single-motion elastic tubes
Author :
Hirai, Shinichi ; Masui, Tomohiro ; Kawamur, S.
Author_Institution :
Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan
Abstract :
We develop pneumatic actuators composed of multiple elastic tubes. Elastic tubes with mechanical constraints have the capability of performing a single various motion while multiple motions cannot be performed. Actuators composed of single-motion tubes can realize multiple motions by controlling air pressure imposed on individual tubes. We present the concept of group actuators and develop their prototypes.
Keywords :
actuators; motion control; pneumatic control equipment; pressure control; air pressure control; elastic tubes; group pneumatic actuators; motion control; single-motion tubes; Humans; Mechanical systems; Motion control; Pneumatic actuators; Prototypes; Robots; Rubber; Shape; Silicon; Topology;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933211
