Analysis of characteristics of a pneumatic miniature robotic system

被引：0
|
作者：
于莲芝 [1 ]
机构：
[1] College of Optoelectric & Electronic Information Engineering,University of Shanghai for Science and Technology,Shanghai 200093,P.R.China
来源：
HighTechnologyLetters | 2008年 / 14卷 / 01期
关键词：
miniature robotic system; pneumatic rubber actuator; characteristic analysis;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
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.
引用
收藏
页码：35 / 39
页数：5
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