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首页> 外文期刊>Mechatronics: The Science of Intelligent Machines >Development of continuum manipulator actuated by thin McKibben pneumatic artificial muscle
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Development of continuum manipulator actuated by thin McKibben pneumatic artificial muscle

机译：薄麦克亨恩气动人工肌肉驱动的连续式机械手

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摘要

A compliant, light, multi joint continuum manipulator that can be actuated using 2 mm diameter of thin McKibben pneumatic artificial muscles is developed in this study. The mechanical properties of the thin McKibben pneumatic artificial muscles are first presented and its performance is tested experimentally. The mass of the manipulator is less than 0.35 kg, which is much lighter than the conventional robotic manipulator with a rigid body and actuators. The kinematics model and the compliance model of the manipulator are established. The experimental results indicate that the manipulator can achieve expansion, contraction, and complex three-dimensional movements, and the maximal error is smaller than 7 mm. In addition, the results of a collision impact test show that the continuum manipulator exhibits high compliance and robustness. After the manipulator was hit, it can effectively reduce the damage caused by external impacts resulting from its own antagonistic compliance, and return to its original position with maximal recovery error of 5.08 mm. This manipulator can be used in industrial applications, medical treatment, military detection, rescue and disaster relief, etc.
机译：在本研究中开发了可以使用2 mm直径致动的柔性，光，多关节连续体机械手，该研究在本研究中开发了一种直径的薄麦克宾人工肌肉。首先提出薄Mckbben气动人工肌肉的机械性能，实验测试其性能。操纵器的质量小于0.35千克，比具有刚体和致动器的传统机器人操纵器更轻。建立了运动学模型和操纵器的合规模型。实验结果表明，操纵器可以实现膨胀，收缩和复杂的三维运动，并且最大误差小于7mm。此外，碰撞影响试验的结果表明，连续管道呈现高规范和鲁棒性。当机械手被击中后，它可以有效地减少由其自身的拮抗合规导致的外部影响引起的损坏，并以最大的回收误差返回到其原始位置5.08 mm。该操纵器可用于工业应用，医疗，军事检测，救援和救灾等。

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