TY - GEN
T1 - Modeling of extensible pneumatic actuator with bellows (EPAB) for continuum arm
AU - Yukisawa, Taigo
AU - Ishii, Yasuaki
AU - Nishikawa, Satoshi
AU - Niiyama, Ryuma
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - The ability of a continuum arm is influenced by the performance of an actuator. Although several extensible pneumatic actuators have been proposed in previous research, balancing strength with large strain is still a challenge. We propose an extensible pneumatic actuator with bellows (EPAB) that consists of a rubber tube and a highly packed bellows sleeve. We propose a parametric model of the EPAB that can comprise various bellows and rubber tubes. We measured the basic properties of four actuators with different parameters to verify the proposed model. We conducted evaluation experiments under two conditions: constant length with variable pressure and constant pressure with variable length. The experimental results indicate that the proposed model can roughly predict the measured data. The proposed extensible actuator has an unloaded strain of up to 350% at a pressure of 0.6 MPa.
AB - The ability of a continuum arm is influenced by the performance of an actuator. Although several extensible pneumatic actuators have been proposed in previous research, balancing strength with large strain is still a challenge. We propose an extensible pneumatic actuator with bellows (EPAB) that consists of a rubber tube and a highly packed bellows sleeve. We propose a parametric model of the EPAB that can comprise various bellows and rubber tubes. We measured the basic properties of four actuators with different parameters to verify the proposed model. We conducted evaluation experiments under two conditions: constant length with variable pressure and constant pressure with variable length. The experimental results indicate that the proposed model can roughly predict the measured data. The proposed extensible actuator has an unloaded strain of up to 350% at a pressure of 0.6 MPa.
UR - http://www.scopus.com/inward/record.url?scp=85050020341&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050020341&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324762
DO - 10.1109/ROBIO.2017.8324762
M3 - Conference contribution
AN - SCOPUS:85050020341
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2303
EP - 2308
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -