Reducing Actuators in Soft Continuum Robots and Manipulators

Mohamed Shoani, Mohamed Shoani and Ribuan, Mohamed Najib and Mohd Faudzi, Ahmad Athif and Mohamaddan, Shahrol (2023) Reducing Actuators in Soft Continuum Robots and Manipulators. Applied Sciences, 13 (462). pp. 1-13.

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Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi‐ segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost and complexity of a SCRaM and reduces its reliability. In this paper, a methodol‐ ogy is presented to reduce the number of actuators employed by SCRaMs while maintaining their volumetric workspace. The method presents a new design approach involving one rotary and two linear actuators, providing three degrees of freedom (DOF) and a volumetric workspace. The result of applying the transformation is a 50–86% reduction in the total number of actuators typically em‐ ployed by multi‐segment SCRaMs. The application of this methodology reduces the cost and com‐ plexity of conventional multi‐segment SCRaMs while improving their efficiency and reliability

Item Type: Article
Uncontrolled Keywords: soft robotics; actuator reduction; continuum structures; design methodology
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions: Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering
Depositing User: Mr. Mohamad Zulkhibri Rahmad
Date Deposited: 17 Oct 2023 06:54
Last Modified: 17 Oct 2023 06:54

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