文章基本信息

标题：An artificial flexible robot arm based on pneumatic muscle actuators
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作者：Jyh-Chyang Renn ; Jyh-Chyang Renn ; Bo-Han Li 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2017
卷号：123
页码：1-5
DOI：10.1051/matecconf/201712300020
语种：English
出版社：EDP Sciences
摘要：The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs). The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.