Analysis of actuating mechanics
characteristics for a flexible miniature robot system

doi:10.1007/s11465-008-0006-5

Front. Mech. Eng.

2008, Vol. 3

Issue (1) : 66-70 https://doi.org/10.1007/s11465-008-0006-5

Analysis of actuating mechanics characteristics for a flexible miniature robot system

YU Lianzhi¹, YAN Guozheng², MA Guanying², ZAN Peng²

1.College of Optoelectric & Electric Information Engineering, University of Shanghai for Science and Technology; 2.Lab 820, School of Electric Information and Electrical Engineering, Shanghai Jiaotong University;

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Abstract Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.

Issue Date: 05 March 2008

Cite this article:

YU Lianzhi,YAN Guozheng,MA Guanying, et al. Analysis of actuating mechanics characteristics for a flexible miniature robot system[J]. Front. Mech. Eng., 2008, 3(1): 66-70.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-008-0006-5
https://academic.hep.com.cn/fme/EN/Y2008/V3/I1/66

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