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Cited by 408

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Development of flexible microactuator and its applications to robotic mechanisms

Suzumori, K., Iikura, S., Tanaka, H.·2002·Proceedings. 1991 IEEE International Conference on Robotics and Automation
DOI 10.1109/robot.1991.131850
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Abstract

A flexible microactuator (FMA) driven by an electropneumatic (or electrohydraulic) system has been developed. The FMA has three degrees of freedom, pitch, yaw, and stretch, and these are suitable movements for miniature robotic mechanisms such as fingers, arms, or legs. The construction is of fiber-reinforced rubber, and the mechanism is very simple. Gentle miniature robots with no conventional links can be designed using this design. The FMA's basic characteristics and its applications to certain robot mechanisms are presented. 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 of such FMAs, the stable region for holding, and its performance are presented.>

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Authors
Suzumori, K., Iikura, S., & Tanaka, H.
Venue
Proceedings. 1991 IEEE International Conference on Robotics and Automation
Publisher
IEEE Comput. Soc. Press
Published
2002-12-10
Pages
1622-1627
ISSN
1050-4729 (ISSN-L)
DOI
10.1109/robot.1991.131850
OpenAlex
W2127966735
Cited by
408
References
0
FWCI
18.36
Type
conference paper
Language
en
Open access
closed

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