Analysis of actuating mechanics characteristics for a flexible miniature robot system

被引：0
|
作者：
Yu L. [1 ]
Yan G. [2 ]
Ma G. [2 ]
Zan P. [2 ]
机构：
[1] College of Optoelectric and Electric Information Engineering, University of Shanghai for Science and Technology
[2] Lab. 820, School of Electric Information and Electrical Engineering, Shanghai Jiaotong University
来源：
Frontiers of Mechanical Engineering in China | 2008年 / 3卷 / 1期
基金：
中国国家自然科学基金;
关键词：
Actuating mechanics characteristics; Analysis; Flexible robot system; Pneumatic artificial muscle;
D O I：
10.1007/s11465-008-0006-5
中图分类号：
学科分类号：
摘要：
Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube. © 2008 Higher Education Press and Springer-Verlag.
引用
收藏
页码：66 / 70
页数：4
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