Dynamic Modeling and Analysis for Parallel Robots Actuated by Pneumatic Artificial Muscles

Wang, Qihang; Liu, Gendi; Yang, Tong; Chen, He; Qin, Yanding; Sun, Ning

doi:10.1007/978-981-19-3923-5_3

Cited by 2 publications

(1 citation statement)

References 31 publications

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“…In order to enhance the structure and the behaviour of the mobile robots, soft actuators are suggested in this article to build the full body of the robot and actuate it. The pneumatic artificial muscle (PAM) has been widely used recently to design and motivate numerous robot arms and grippers [8,[27][28][29]. These soft actuators and soft robotics have shown another aspect of robotics, namely lightweight, inexpensive, flexible, easy to implement, and safe for individuals [30][31][32].…”

Section: Introductionmentioning

confidence: 99%

An Automatic Self Shape-Shifting Soft Mobile Robot (A4SMR)

2022

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This article proposes a mobile robot that is fully constructed and actuated by utilising a pneumatic artificial muscle (PAM). Several features are shown in this design including softness, lightweight, and shape change. The robot that has been designed in this article is constructed with four identical contraction actuators: one pair for steering and moving forward and the second pair for shape-shifting. The proposed mobile robot has the ability to move forward, steer, and shapeshift to navigate through narrow paths. The kinematic for the system is provided for the area of the robot by using the shoelace formula by utilising a Pixy camera to track the coordinates of the four vertices.

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