Next: Workspace and Singularity Up: Manipulators and Actuators Previous: Geometric Modelling of

Artificial Skeletal Muscle (ASM)

Authors: [tex2html_wrap4274]F. Bubic, P. Zsombor-Murray

Investigator username: paul

Category: robotics

Subcategory: manipulators and actuators

A rod-less, dynamic, seal-less, elasto-hydro-pneumatic cylinder pair to actuate a plano-revolute arm was built. This novel robotic actuator, which is based on conventional macro-technology exhibits constitutive characteristics similar to those of vertebrate limbs. A new device with a serial chain of six triple ASM units, each capable of continuous curvature and torsion, like an elephant's trunk, has been built and tested. US patent, ``Flexible Robotic Links &Manipulator Trunks Made Therefrom'', No. 5 080 000 (92-01-14), has been awarded in this regard.


baron@cim.mcgill.ca