A Novel Fluidic Bellows Manipulator

Andrea Manuello Bertetto; Maurizio Ruggiu

doi:10.20965/jrm.2004.p0604

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JRM Vol.16 No.6 pp. 604-612

doi: 10.20965/jrm.2004.p0604

(2004)

Paper:

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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:

A. Bertetto and M. Ruggiu, “A Novel Fluidic Bellows Manipulator,” J. Robot. Mechatron., Vol.16 No.6, pp. 604-612, 2004.

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References

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[2] S. Dohta, Y. Ban, and H. Matsushita, “Application of a flexible strain sensor to a pneumatic rubber hand,” Proceedings of the Sixth Triennal International Symposium on Fluid Control, Measurement and Visualization, Sherbrooke (Qc) Canada, August 2000.
[3] M. W. Hannan, and I. D. Walzer, “Analysis and experiments with an Elephant’s Trunk Tobot,” The International journal of the Robotics society of Japan, Vol.15, No.8.
[4] C. Ferraresi, A. Manuello Bertetto, and L. Mazza, “Design and realisation of a flexible pneumatic acruator for robotica,” Proceedings of 5th Scandinavian International Conference on Fluid Power, SICFP 97, ed. J-O Palmberg, Linkoping University, Sweden, Vol.3, Linkoping, pp. 29-43, May 1997.
[5] F. Daerden, D. Lefeber, B. Verrelst, and R. Van Ham, “Plated pneumatic artificial muscles: actuators fpr automation and robotics,” 2001 IEEE-ASME Int. Conf. On Advanced Intelligent Mechatronics Proceedings, July 8-12, 2001, Como, Italy, ed. B. Siciliano, publ. IEEE, pp. 738-743, 2001.
[6] S. Hirai, P. Cusin, H. Tanigawa, T. Masui, S. Konishi, and S. Kawamura, “Qualitative Synthesis of Deformable Cylindrical Actuators trough Constraint Topology,” Proceedings of the 2000 IEEE/RSJ int. Conference on intelligent Robots and Systems.
[7] T. Noritsugu, M. Kubota, and S. Yoshimatsu, “Development of pneumatic rotaty soft actuator made of silicone rubber,” Proceedings of the Sixth Triennal International Symposium on Fluid Control, Measurement and Visualization, Sherbrooke (Qc) Canada, August 2000.
[8] A. B. Slatkin, and J. Burdick, “Development of a robotic endoscope,” Proceedings of the IROS, Pasadena, Pa 1995.
[9] M. Sfakiotakis, D. M. Lane, and B. C. Davies, “An experimental ondulating-fin device using the parallel bellows actuators,” Proceedings of the 2001 IEEE International conference on Robotics & Automation, Seoul Korea, pp. 2356-2362, May 2001.
[10] A. Manuello Bertetto, and M. Ruggiu, “Pole Climbing Pneumatic Robot,” Proceedings of the Fifth JFPS International Symposium on Fluid Power, Nara, pp. 43-48, 2002.
[11] T. Yoshikama, and K. Hosoda, “Modeling of flexible manipulators using virtual rigid links and passive joints,” International Journal of Robotics Research, Vol.15, No.3, pp. 290-299, 1996.
[12] X. Ding, and J. M. Selig, “Dynamic modeling of a compliant arm with 6-dimensional tip forces using screw theory,” Robotica, Vol.21, pp. 193-197, 2003.
[13] D. J. O’Brien, and D. M. Lane, “3D force control system design for a hydraulic parallel bellows continuum actuator,” Proceedings of the 2001 IEEE International conference on Robotics & Automation, Seoul Korea, pp. 2375-2380, May 2001.
[14] L.-W. Tsai, “Robot Analysis, the mechanics of serial and parallel manipulators,” Ed. John Wiley & Sons, Inc, 1999.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Schultz, C. Pylatiuk, and G. Bretthauer, “A new ultralight anthropomorphic hand,” Proceedings of the 2001 IEEE International conference on Robotics & Automation, Seoul Korea, May 2001.

[2] [2] S. Dohta, Y. Ban, and H. Matsushita, “Application of a flexible strain sensor to a pneumatic rubber hand,” Proceedings of the Sixth Triennal International Symposium on Fluid Control, Measurement and Visualization, Sherbrooke (Qc) Canada, August 2000.

[3] [3] M. W. Hannan, and I. D. Walzer, “Analysis and experiments with an Elephant’s Trunk Tobot,” The International journal of the Robotics society of Japan, Vol.15, No.8.

[4] [4] C. Ferraresi, A. Manuello Bertetto, and L. Mazza, “Design and realisation of a flexible pneumatic acruator for robotica,” Proceedings of 5th Scandinavian International Conference on Fluid Power, SICFP 97, ed. J-O Palmberg, Linkoping University, Sweden, Vol.3, Linkoping, pp. 29-43, May 1997.

[5] [5] F. Daerden, D. Lefeber, B. Verrelst, and R. Van Ham, “Plated pneumatic artificial muscles: actuators fpr automation and robotics,” 2001 IEEE-ASME Int. Conf. On Advanced Intelligent Mechatronics Proceedings, July 8-12, 2001, Como, Italy, ed. B. Siciliano, publ. IEEE, pp. 738-743, 2001.

[6] [6] S. Hirai, P. Cusin, H. Tanigawa, T. Masui, S. Konishi, and S. Kawamura, “Qualitative Synthesis of Deformable Cylindrical Actuators trough Constraint Topology,” Proceedings of the 2000 IEEE/RSJ int. Conference on intelligent Robots and Systems.

[7] [7] T. Noritsugu, M. Kubota, and S. Yoshimatsu, “Development of pneumatic rotaty soft actuator made of silicone rubber,” Proceedings of the Sixth Triennal International Symposium on Fluid Control, Measurement and Visualization, Sherbrooke (Qc) Canada, August 2000.

[8] [8] A. B. Slatkin, and J. Burdick, “Development of a robotic endoscope,” Proceedings of the IROS, Pasadena, Pa 1995.

[9] [9] M. Sfakiotakis, D. M. Lane, and B. C. Davies, “An experimental ondulating-fin device using the parallel bellows actuators,” Proceedings of the 2001 IEEE International conference on Robotics & Automation, Seoul Korea, pp. 2356-2362, May 2001.

[10] [10] A. Manuello Bertetto, and M. Ruggiu, “Pole Climbing Pneumatic Robot,” Proceedings of the Fifth JFPS International Symposium on Fluid Power, Nara, pp. 43-48, 2002.

[11] [11] T. Yoshikama, and K. Hosoda, “Modeling of flexible manipulators using virtual rigid links and passive joints,” International Journal of Robotics Research, Vol.15, No.3, pp. 290-299, 1996.

[12] [12] X. Ding, and J. M. Selig, “Dynamic modeling of a compliant arm with 6-dimensional tip forces using screw theory,” Robotica, Vol.21, pp. 193-197, 2003.

[13] [13] D. J. O’Brien, and D. M. Lane, “3D force control system design for a hydraulic parallel bellows continuum actuator,” Proceedings of the 2001 IEEE International conference on Robotics & Automation, Seoul Korea, pp. 2375-2380, May 2001.

[14] [14] L.-W. Tsai, “Robot Analysis, the mechanics of serial and parallel manipulators,” Ed. John Wiley & Sons, Inc, 1999.