Mohamed Shoani, Mohamed Shoani and Mohamed Najib Ribuan, Mohamed Najib Ribuan and Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi and Shahrol Mohamaddan, Shahrol Mohamaddan (2023) Reducing Actuators in Soft Continuum Robots and Manipulators. Applied Scieces, 130 (462). pp. 1-13.
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Abstract
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 > T Technology (General) |
| Divisions: | Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering |
| Depositing User: | Mr. Mohamad Zulkhibri Rahmad |
| Date Deposited: | 03 Jan 2024 01:35 |
| Last Modified: | 03 Jan 2024 01:35 |
| URI: | http://eprints.uthm.edu.my/id/eprint/10538 |
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