Design and Implementation of a Multiple DoF Soft Robot Arm Using Exestensor Muscles

摘要

This paper proposes a unique soft robot arm. It shows very uncommon behaviour, that a pneumatic platform that can be grasped, contract, extend (stretch), and bend in all directions based on the three designed muscles that connected and operated as parallel actuation. This idea had been launched from an animal whose body has no rigid structures (without bones), like an Octopus, Elephant trunk, and some other animals. The pneumatic muscle actuator (PMA) represents a valuable addition and expansion to the robotics investigation area 20 years ago. These actuators (PMAs) give worthy additions to the robotic systems. These actuators support considerable features like flexibility, lightweight, high force according to weight ratio and the ability to have changeable shapes. This paper has studied a new length model 50 cm to every single extensor PMA. The proposed arm shows about 50% extension ratio and the ability to bend along the three dimensions.