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JRM Vol.27 No.3 pp. 276-285
doi: 10.20965/jrm.2015.p0276
(2015)

Paper:

Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically

Shunon Kikuchi*, Yasuyuki Yamada**, Ryoichi Higashi*, and Toshio Morita*

*Keio University
3-14-1 Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan

**Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received:
November 17, 2014
Accepted:
April 10, 2015
Published:
June 20, 2015
Keywords:
manipulation, winding grasp, pneumatic actuator, super multi-joint manipulator
Abstract

The manipulator when air flowed in

The new super multi-joint manipulator mechanism we introduce in this paper is constructed from a long flexible resinous plate in the center of the manipulator and a pneumatic actuator the same length as the arm arranged antagonistically. The number of power transmission mechanism is fewer than that of joints. Specialized in a winding grip, the mechanism is light and simple. From the effect of this property, the manipulator could be easily extended in the length. The experimental mechanism mode was developed and several experiments were conducted, such as driving on the vertical plane, grasping some objects and moving with flow rate adjustment. As a result, the manipulator could drive on the vertical plane, winds cylinders of 50–200 mm in diameter and controls winding behavior.

Cite this article as:
S. Kikuchi, Y. Yamada, R. Higashi, and T. Morita, “Super Multi-Joint Manipulator by Using Creased Plate and Pneumatic Actuators Arranged Antagonistically,” J. Robot. Mechatron., Vol.27, No.3, pp. 276-285, 2015.
Data files:
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Last updated on Nov. 12, 2018