학술논문
Hybrid electro-pneumatic robotic arm - integration of pneumatic muscle actuator
Document Type
Conference
Author
Source
2011 IEEE/SICE International Symposium on System Integration (SII) System Integration (SII), 2011 IEEE/SICE International Symposium on. :640-642 Dec, 2011
Subject
Language
Abstract
This paper describes lightweight, strong and precise hybrid robotic arm actuated by a pneumatic muscle actuator (PMA). The arm is precisely actuated by an electric servomotor with bearing reducer drive chain, and in special cases, when extremely high torque/force is needed (e.g. rescue applications, unintentional arm blocking by obstacle, high load elevating, payload ejecting) also with Pneumatic Muscle Actuator. The PMA acts like a highly nonlinear spring with controlled stiffness. Design and control of such a robotic arm is further described.