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Designing a multi-robot system provides numerous advantages for many applications such as low cost, multi-tasking and more efficient group work. However, the rigidity of the robots used in industrial and medical applications increases the probability of injury. Therefore, lots of research is done to increase the safety factor for robot-human interaction. As a result, either separation between the...
This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air...
Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in...
Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic researches, which is still under modification for the McKibben artificial muscle. Accurate force, length and position models allow for the wide use of make the continuum robot arm in industrial and medical applications. Moreover, accurate control can be achieved. This paper presents new formulas to model...
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