Design of an artificial muscle continuum robot

Abstract

This paper introduces a novel continuum manipulator consisting of two flexible sections connected by rigid base plates. Each section uses 6-8 opposing contracting and extending McKibben actuators to provide two-axis bending. The contracting/extending actuator pairs are sized and positioned to provide matched rotation and torque. The experimental manipulator generates large rotation (30 - 35 degrees per section and 50 degrees for the entire manipulator) and load capacity (25 lb vertical lift) at 60 psi. With a large strength to weight ratio, this manipulator also is highly flexible, simple to manufacture, and is cost-effective.