Design and Analysis of a Soft Actuator for a Three-legged Soft Robot

被引：0

作者：

Miao, Yu ^{[1
]}

Du, Zhi-Jiang ^{[1
]}

Dong, Wei ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, 2 Yikuang St, Harbin 150080, Heilongjiang, Peoples R China

来源：

PROCEEDINGS OF THE 3RD ANNUAL INTERNATIONAL CONFERENCE ON ADVANCED MATERIAL ENGINEERING (AME 2017) | 2017年 / 110卷

关键词：

Soft actuator; Soft robot; Flexible manipulator; Soft materials;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

Due to a multitude of potential applications in safe interaction with human co-workers, soft robotic manipulators have attracted attention from researchers in recent years. However, it is difficult to model a soft robot because of the flexibility of soft materials, which has limited its applications. This paper presents a modelling method for a pneumatic soft actuator based on matrix displacement method. Kinematics of a sample soft actuator is analyzed and the performance of the actuator is tested by experiments. This paper also describes the potential use of the proposed soft actuator in a three-legged soft robot.

引用

页码：429 / 434

页数：6

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