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Analysis of actuating mechanics characteristics for a flexible miniature robot system

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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.

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Author information

Authors and Affiliations

  1. College of Optoelectric & Electric Information Engineering, University of Shanghai for Science and Technology, Shanghai, 200093, China

    Lianzhi Yu

  2. Lab 820, School of Electric Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Guozheng Yan, Guanying Ma & Peng Zan

Authors
  1. Lianzhi Yu
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  2. Guozheng Yan
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  3. Guanying Ma
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  4. Peng Zan
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Corresponding author

Correspondence to Lianzhi Yu.

Additional information

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Translated from Chinese Journal of Scientific Instrument, 2007, 28(1): 7–11 [译自: 仪器仪表学报]

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Yu, L., Yan, G., Ma, G. et al. Analysis of actuating mechanics characteristics for a flexible miniature robot system. Front. Mech. Eng. China 3, 66–70 (2008). https://doi.org/10.1007/s11465-008-0006-5

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  • DOI: https://doi.org/10.1007/s11465-008-0006-5

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