Analysis of characteristics of a pneumatic miniature robotic system

This paper described the structure of a flexible miniature robotic system which can move in humancavities,and then analyzed the characteristics of the robotic system in detail.The mobile mechanism ofthe miniature robotic system is soft;it makes inchworm-like movement driven by a 3-DOF pneumatic rub-bet actuator and holds its positions by air chambers.The driving characteristic models in axial and bend-ing directions of the actuator were set up and the kinemics equations of the robotic system were set up.Experiments had been done through an electro-pressure control system,by which the pneumatic roboticsystem can be controlled with high accuracy.It is suitable for moving in human cavities for medical in-spection.