Journal
IEEE ACCESS
Volume 7, Issue -, Pages 75073-75080Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2019.2920632
Keywords
Soft robot; shape memory alloy; neural network
Categories
Funding
- Social Sciences and Humanities Department of the Ministry of Education of China [18YJC88002]
- Guangdong Provincial Key Platform and Major Scientific Research Projects [2017GXJK136]
- Guangzhou Innovation and Entrepreneurship Education Project [201709P14]
Ask authors/readers for more resources
Conventional robots have shown good positioning accuracy and reliability in multiple environments. However, the robots' lack of flexibility makes them unsuitable for application in certain areas. Thus, a soft robotic system should be considered due to its adaptivity and flexibility. This paper proposes a novel shape memory alloy (SMA)-actuated multiple degrees of freedom (DOF) soft robot, which theoretically supports a maximum of nine-DOF movement and good positioning accuracy. A motion test and positioning evaluation are conducted for the proposed multi-DOF soft robot. The structural design, control method, and analysis of the kinematics and the coordinate system are also given.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available