Design of a pneumatic muscle based continuum robot with embedded tendons
Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This p...
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| Format: | Article |
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Institute of Electrical and Electronics Engineers
2016
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| Online Access: | https://eprints.nottingham.ac.uk/40263/ |
| _version_ | 1848796020365852672 |
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| author | Kang, Rongjie Guo, Yong Chen, Lisha Branson, David T. Dai, Jian S. |
| author_facet | Kang, Rongjie Guo, Yong Chen, Lisha Branson, David T. Dai, Jian S. |
| author_sort | Kang, Rongjie |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles (TEPMs). The pneumatic muscles are used to achieve large scale movements for preliminary positioning while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A 3-dimensional (3-D) dynamic model of the robot is presented using a mass-damper-spring based network, in which elastic deformation, actuating forces and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system. |
| first_indexed | 2025-11-14T19:41:20Z |
| format | Article |
| id | nottingham-40263 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:41:20Z |
| publishDate | 2016 |
| publisher | Institute of Electrical and Electronics Engineers |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-402632020-05-04T18:27:22Z https://eprints.nottingham.ac.uk/40263/ Design of a pneumatic muscle based continuum robot with embedded tendons Kang, Rongjie Guo, Yong Chen, Lisha Branson, David T. Dai, Jian S. Continuum robots have attracted increasing focus in recent years due to their intrinsic compliance that allows for dexterous and safe movements. However, the inherent compliance in such systems reduces the structural stiffness, and therefore leads to the issue of reduced positioning accuracy. This paper presents the design of a continuum robot employing tendon embedded pneumatic muscles (TEPMs). The pneumatic muscles are used to achieve large scale movements for preliminary positioning while the tendons are used for fine adjustment of position. Such hybrid actuation offers the potential to improve the accuracy of the robotic system, while maintaining large displacement capabilities. A 3-dimensional (3-D) dynamic model of the robot is presented using a mass-damper-spring based network, in which elastic deformation, actuating forces and external forces are taken into account. The design and dynamic model of the robot are then validated experimentally with the help of an electromagnetic tracking system. Institute of Electrical and Electronics Engineers 2016-12-06 Article PeerReviewed Kang, Rongjie, Guo, Yong, Chen, Lisha, Branson, David T. and Dai, Jian S. (2016) Design of a pneumatic muscle based continuum robot with embedded tendons. IEEE/ASME Transactions on Mechatronics (99). ISSN 1083-4435 Hybrid actuation Continuum robots Pneumatic muscles Embedded tendons http://ieeexplore.ieee.org/document/7775004 doi:10.1109/TMECH.2016.2636199 doi:10.1109/TMECH.2016.2636199 |
| spellingShingle | Hybrid actuation Continuum robots Pneumatic muscles Embedded tendons Kang, Rongjie Guo, Yong Chen, Lisha Branson, David T. Dai, Jian S. Design of a pneumatic muscle based continuum robot with embedded tendons |
| title | Design of a pneumatic muscle based continuum robot with embedded tendons |
| title_full | Design of a pneumatic muscle based continuum robot with embedded tendons |
| title_fullStr | Design of a pneumatic muscle based continuum robot with embedded tendons |
| title_full_unstemmed | Design of a pneumatic muscle based continuum robot with embedded tendons |
| title_short | Design of a pneumatic muscle based continuum robot with embedded tendons |
| title_sort | design of a pneumatic muscle based continuum robot with embedded tendons |
| topic | Hybrid actuation Continuum robots Pneumatic muscles Embedded tendons |
| url | https://eprints.nottingham.ac.uk/40263/ https://eprints.nottingham.ac.uk/40263/ https://eprints.nottingham.ac.uk/40263/ |