| Issue |
MATEC Web Conf.
Volume 123, 2017
2017 The 2nd International Conference on Precision Machinery and Manufacturing Technology (ICPMMT 2017)
|
|
|---|---|---|
| Article Number | 00020 | |
| Number of page(s) | 5 | |
| DOI | https://doi.org/10.1051/matecconf/201712300020 | |
| Published online | 21 September 2017 | |
An artificial flexible robot arm based on pneumatic muscle actuators
Department of Mechanical Engineering, National Yunlin University of Science and Technology, No. 123, University Road Sec. 3, Douliou, 640 Yunlin, Taiwan, R.O.C.
* e-mail: rennjc@yuntech.edu.tw
The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs). The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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