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Design and fabrication of a new dual-arm soft robotic manipulator
Wang Y.; Xu Q.
2019
Source PublicationActuators
ISSN20760825
Volume8Issue:1
AbstractThis paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.
KeywordCollaborative operation Compliant mechanism Soft manipulator Soft robot Visual servo control
DOI10.3390/act8010005
URLView the original
Language英語
Fulltext Access
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Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Wang Y.,Xu Q.. Design and fabrication of a new dual-arm soft robotic manipulator[J]. Actuators,2019,8(1).
APA Wang Y.,&Xu Q..(2019).Design and fabrication of a new dual-arm soft robotic manipulator.Actuators,8(1).
MLA Wang Y.,et al."Design and fabrication of a new dual-arm soft robotic manipulator".Actuators 8.1(2019).
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