Development of Flexible Robot Arm Using Rod-less Type Flexible Pneumatic Cylinders

2006 ◽  
Author(s):  
Toshihide Nango ◽  
Tetsuya Akagi ◽  
Shujiro Dohta ◽  
Hisashi Matsushita
Keyword(s):  
Robot Arm ◽  
Flexible Robot ◽  
Pneumatic Cylinders

Simple Trajectory Control Method of Robot Arm Using Flexible Pneumatic Cylinders

2015 ◽  
Vol 27 (6) ◽  
pp. 698-705 ◽  
Author(s):  
Mohd Aliff ◽  
◽  
Shujiro Dohta ◽  
Tetsuya Akagi ◽  
Keyword(s):  
Control Method ◽  
Trajectory Control ◽  
Robot Arm ◽  
Flexible Robot ◽  
Repetitive Tasks ◽  
Embedded Controller ◽  
Linearized Model ◽  
Speed Accuracy ◽  
Pneumatic Cylinders ◽  
Individual Condition

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/12.jpg"" width=""300"" /> Flexible robot arm</div>Robots, due to their excellent speed, accuracy and cost-effectiveness in repetitive tasks, now have a tendency to be used in rehabilitation field. A simple trajectory control of robot arm using flexible pneumatic cylinders and embedded controller which can be used as rehabilitation for human wrist is described. The system consists of the flexible robot arm, an accelerometer, an embedded microcomputer, a potentiometer and compact quasi-servo valves. The analytical model for trajectory control is proposed and applied on the flexible pneumatic robot arm. The proposed trajectory control method does not need a linearized model which is commonly used in a robot arm. The flexible structure has the characteristics of high safety such as not to cause harm to user and is suitable for use in therapeutic devices. The trajectory control can help patients recover more quickly by repeating the movements based on the patient's individual condition. Both experiment and simulation show that the trajectory control of robot arm can be realized for several kinds of trajectory by using the proposed control method and the tested robot arm.

Optimal control of a flexible robot arm

1988 ◽  
Vol 29 (3) ◽  
pp. 459-467 ◽  
Author(s):  
James D. Lee ◽  
Ben-Li Wang
Keyword(s):  
Optimal Control ◽  
Robot Arm ◽  
Flexible Robot

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

2015 ◽  
Author(s):  
Peng Qi ◽  
Hongbin Liu ◽  
Lakmal Seneviratne ◽  
Kaspar Althoefer
Keyword(s):  
Preliminary Test ◽  
Industrial Applications ◽  
Robot Arm ◽  
Kinematic Modeling ◽  
Flexible Robot ◽  
Element Analysis ◽  
Robot Arms ◽  
Environmental Interactions ◽  
In Series ◽  
Fea Simulation

Flexible robot arms have been developed for various medical and industrial applications because of their compliant structures enabling safe environmental interactions. This paper introduces a novel flexible robot arm comprising a number of elastically deformable planar spring elements arranged in series. The effects of flexure design variations on their layer compliance properties are investigated. Numerical studies of the different layer configurations are presented and finite Element Analysis (FEA) simulation is conducted. Based on the suspended platform’s motion of each planar spring, this paper then provides a new method for kinematic modeling of the proposed robot arm. The approach is based on the concept of simultaneous rotation and the use of Rodrigues’ rotation formula and is applicable to a wide class of continuum-style robot arms. At last, the flexible robot arms respectively integrated with two different types of compliance layers are prototyped. Preliminary test results are reported.

Control of a Flexible Robot Arm using a Simplified Fuzzy Controller

2018 ◽  
pp. 267-294
Author(s):  
Hongxing Li ◽  
C.L. Philip Chen ◽  
Han-Pang Huang
Keyword(s):  
Fuzzy Controller ◽  
Robot Arm ◽  
Flexible Robot

Comparison of models for a single-link flexible robot ARM

1994 ◽  
Vol 27 (14) ◽  
pp. 415-420
Author(s):  
E. Bove ◽  
S. Nicosia ◽  
M. Simonelli
Keyword(s):  
Robot Arm ◽  
Flexible Robot ◽  
Single Link
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