Publication result detail

Hybrid Electro-pneumatic Robotic Arm - Integration of Pneumatic Muscle Actuator

KOPEČNÝ, L.; ŽALUD, L.

Original Title

Hybrid Electro-pneumatic Robotic Arm - Integration of Pneumatic Muscle Actuator

English Title

Hybrid Electro-pneumatic Robotic Arm - Integration of Pneumatic Muscle Actuator

Type

Paper in proceedings (conference paper)

Original Abstract

Paper describes lightweight, strong and precise hybrid robotic arm co-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 briefly described.

English abstract

Paper describes lightweight, strong and precise hybrid robotic arm co-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 briefly described.

Keywords

PMA, robotic, high-force manipulator, electro-pneumatic manipulator

Key words in English

PMA, robotic, high-force manipulator, electro-pneumatic manipulator

Authors

KOPEČNÝ, L.; ŽALUD, L.

RIV year

2012

Released

19.12.2011

Location

Kyoto

ISBN

9781457715228

Book

Proceedings of 2011 IEEE/SICE International Symposium on System Integration

Pages from

1

Pages to

4

Pages count

4

BibTex

@inproceedings{BUT75028,
  author="Lukáš {Kopečný} and Luděk {Žalud}",
  title="Hybrid Electro-pneumatic Robotic Arm - Integration of Pneumatic Muscle Actuator",
  booktitle="Proceedings of 2011 IEEE/SICE International Symposium on System Integration",
  year="2011",
  pages="1--4",
  address="Kyoto",
  isbn="9781457715228"
}