In:
International Journal of Humanoid Robotics, World Scientific Pub Co Pte Ltd, Vol. 08, No. 01 ( 2011-03), p. 205-222
Abstract:
In recent times, the chances of robot–human contact have increased; hence, safety is necessitated with regard to such contact. Thus, manipulators using a pneumatic rubber artificial muscle, which is lightweight and flexible, are studied. However, this artificial muscle manipulator has faults such as slow response and limited instantaneous power due to operation by air pressure. Because of these faults, uncontrollable vibrations can occur, leading to instability in the arm when an object is held and lifted. In this study, an artificial muscle manipulator with one DOF and a variable rheological joint mechanism using MR fluid is developed. Vibration control of the arm using MR fluid is realized when an object is held and lifted, confirming the reduction in vibration due to the MR effect.
Type of Medium:
Online Resource
ISSN:
0219-8436
,
1793-6942
DOI:
10.1142/S021984361100240X
Language:
English
Publisher:
World Scientific Pub Co Pte Ltd
Publication Date:
2011
