Paper Title:

A Robot Arm Actuated by Mckibben Muscles

Periodical Applied Mechanics and Materials (Volumes 66 - 68)
Main Theme Mechanical, Materials and Manufacturing Engineering
Edited by Honghua Tan
Pages 654-658
DOI 10.4028/www.scientific.net/AMM.66-68.654
Citation Huai Lin Zhao et al., 2011, Applied Mechanics and Materials, 66-68, 654
Online since July, 2011
Authors Huai Lin Zhao, Jian Ling Bian, Jian Jiang, Wei Ming Ji
Keywords Arm Action, Mckibben Muscle, Pneumatic System, Robot Arm
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Abstract

A humanoid robot arm with both shoulder joint and elbow joint is built. It is actuated by pieces of Mckibben muscles. Its skeleton-muscle formation is similar to the anatomical structure of the human arm. A pneumatic experiment system is established for supporting and testing the robot arm. The relationship between the robot arm actions and the Mckibben muscles is studied. Some main actions of the robot arm including the elbow bending, the whole arm arising and the rotating around the arm axis are realized.