Flexible microactuator for miniature robots

摘要

A new type of flexible microactuator (FMA) has been developed for use in miniature robots. They are constructed using fiber-reinforced rubber and are actuated by an electropneumatic or electrohydraulic system. These microactuators have many degrees of freedom (including pitch, yaw, and stretch), making them suitable for robotic mechanisms such as arms, legs, or fingers. Pliant miniature robots can be created by combining FMAs. One example is a robot arm a few millimeters in diameter with seven degrees of freedom. The basic characteristics of the FMAs have been analyzed theoretically and experimentally. It is noted that, since the statistics and dynamics are predicted easily, FMAs can be designed efficiently.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>