The Fluid-Skeleton Elastic Manipulator (FSEM): A novel solution for highly maneuverable robotic arms

Abstract

In contrast to tradition rigid-linkage manipulators, continuum manipulators feature an integral, elastic structure. Though able to achieve a high degree of freedom and maneuverability, the actuation system is usually highly complex. The Fluid-Skeleton Elastic Manipulator (FSEM) proposed in this paper contains a tendon-driven actuation system and several fluid-skeleton units, which contains several fluid capsules and blocking structure. The passive deformation of the fluid skeleton is controlled through manipulating the length of the tendons; by blocking the connectors between fluid capsules, the bending angle of certain fluid-skeleton units can be held. Thus, each fluid-skeleton unit could be controlled individually under a single set of tendon actuator, which enhances the maneuverability of the manipulator while employing relatively few actuators. Kinematic analysis further indicates that its maneuverability surpluses the existing schemes of actuation.