Design and Development of a Novel SMA Actuated Multi-DOF Soft Robot

被引：43

作者：

Cheng, Changxi ^{[1
]}

Cheng, Jianxiang ^{[1
]}

Huang, Wenkai ^{[1
,2
]}

机构：

[1] Guangzhou Univ, Sch Mech & Elect Engn, Guangzhou 510006, Guangdong, Peoples R China

[2] Guangzhou Univ, Sch Mech & Elect Engn, Ctr Res Leading Technol Special Equipment, Guangzhou 510006, Guangdong, Peoples R China

来源：

IEEE ACCESS | 2019年 / 7卷

关键词：

Soft robot; shape memory alloy; neural network; CONTINUUM ROBOTS;

D O I：

10.1109/ACCESS.2019.2920632

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Conventional robots have shown good positioning accuracy and reliability in multiple environments. However, the robots' lack of flexibility makes them unsuitable for application in certain areas. Thus, a soft robotic system should be considered due to its adaptivity and flexibility. This paper proposes a novel shape memory alloy (SMA)-actuated multiple degrees of freedom (DOF) soft robot, which theoretically supports a maximum of nine-DOF movement and good positioning accuracy. A motion test and positioning evaluation are conducted for the proposed multi-DOF soft robot. The structural design, control method, and analysis of the kinematics and the coordinate system are also given.

引用

页码：75073 / 75080

页数：8

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