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JRM Vol.16 No.6 pp. 604-612
doi: 10.20965/jrm.2004.p0604
(2004)

Paper:

A Novel Fluidic Bellows Manipulator

Andrea Manuello Bertetto, and Maurizio Ruggiu

Dipartimento di Ingegneria Meccanica, University of Cagliari, Piazza D’Armi, 1-09123 Cagliari

Received:
February 3, 2004
Accepted:
April 12, 2004
Published:
December 20, 2004
Keywords:
manipulators, continuum robots, pneumatics
Abstract

A not-conventional manipulator is presented in this paper. The device consists of a bellows-like flexible and continuum structure actuated by fluid. Two balloons, placed inside of a hollow cylindrical flexible body, separated by a floating spine, may deform the flexible body thus moving the manipulator end-effector on a single plane according to an opportune inflating sequence. The description of the device, its assembling procedure and experimental characterization in terms of end-effector workspace, characteristic force-position curve, response in dynamics are addressed. Furthermore a general mathematical analysis of the robots based on the bellows-like structure is presented. The model approximates the flexible structure of the device as a series of rigid links connected by a couple of revolute and prismatic joints. The model was accurately validated by comparing the forward kinematics, static and inverse dynamics of the manipulator built with data from the analytical model.

Cite this article as:
Andrea Manuello Bertetto and Maurizio Ruggiu, “A Novel Fluidic Bellows Manipulator,” J. Robot. Mechatron., Vol.16, No.6, pp. 604-612, 2004.
Data files:
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