3D POSITION MAPPING OF CONTINUUM ARM

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 Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, mathematical models are presented and validated.

Keywords— Contraction and Extension PMA, Continuum Arm, Experimental Model, 3D Position, Mapping.


The full paper can be found at:

https://ieeexplore.ieee.org/abstract/document/7810151


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