Reducing Actuators in Soft Continuum Robots and Manipulators
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi‐ segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost a...
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2023
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| Online Access: | http://eprints.uthm.edu.my/10538/1/J16249_02beddd850d713bcf4781bb3e261b77b.pdf http://eprints.uthm.edu.my/10538/ https://doi.org/10.3390/app13010462 |
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| author | Mohamed Shoani, Mohamed Shoani Mohamed Najib Ribuan, Mohamed Najib Ribuan Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi Shahrol Mohamaddan, Shahrol Mohamaddan |
| author_facet | Mohamed Shoani, Mohamed Shoani Mohamed Najib Ribuan, Mohamed Najib Ribuan Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi Shahrol Mohamaddan, Shahrol Mohamaddan |
| author_sort | Mohamed Shoani, Mohamed Shoani |
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| collection | Institutional Repository |
| content_provider | Universiti Tun Hussein Onn Malaysia |
| content_source | UTHM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi‐ segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators
increases the cost and complexity of a SCRaM and reduces its reliability. In this paper, a methodol‐ ogy is presented to reduce the number of actuators employed by SCRaMs while maintaining their volumetric workspace. The method presents a new design approach involving one rotary and two
linear actuators, providing three degrees of freedom (DOF) and a volumetric workspace. The result of applying the transformation is a 50–86% reduction in the total number of actuators typically em‐ ployed by multi‐segment SCRaMs. The application of this methodology reduces the cost and com‐ plexity of conventional multi‐segment SCRaMs while improving their efficiency and reliability |
| format | Article |
| id | my.uthm.eprints-10538 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | en |
| publishDate | 2023 |
| publisher | Mdpi |
| record_format | eprints |
| spelling | my.uthm.eprints-105382024-01-03T01:35:42Z http://eprints.uthm.edu.my/10538/ Reducing Actuators in Soft Continuum Robots and Manipulators Mohamed Shoani, Mohamed Shoani Mohamed Najib Ribuan, Mohamed Najib Ribuan Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi Shahrol Mohamaddan, Shahrol Mohamaddan T Technology (General) Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi‐ segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost and complexity of a SCRaM and reduces its reliability. In this paper, a methodol‐ ogy is presented to reduce the number of actuators employed by SCRaMs while maintaining their volumetric workspace. The method presents a new design approach involving one rotary and two linear actuators, providing three degrees of freedom (DOF) and a volumetric workspace. The result of applying the transformation is a 50–86% reduction in the total number of actuators typically em‐ ployed by multi‐segment SCRaMs. The application of this methodology reduces the cost and com‐ plexity of conventional multi‐segment SCRaMs while improving their efficiency and reliability Mdpi 2023 Article PeerReviewed text en http://eprints.uthm.edu.my/10538/1/J16249_02beddd850d713bcf4781bb3e261b77b.pdf Mohamed Shoani, Mohamed Shoani and Mohamed Najib Ribuan, Mohamed Najib Ribuan and Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi and Shahrol Mohamaddan, Shahrol Mohamaddan (2023) Reducing Actuators in Soft Continuum Robots and Manipulators. Applied Scieces, 130 (462). pp. 1-13. https://doi.org/10.3390/app13010462 |
| spellingShingle | T Technology (General) Mohamed Shoani, Mohamed Shoani Mohamed Najib Ribuan, Mohamed Najib Ribuan Ahmad Athif Mohd Faudzi, Ahmad Athif Mohd Faudzi Shahrol Mohamaddan, Shahrol Mohamaddan Reducing Actuators in Soft Continuum Robots and Manipulators |
| title | Reducing Actuators in Soft Continuum Robots and Manipulators |
| title_full | Reducing Actuators in Soft Continuum Robots and Manipulators |
| title_fullStr | Reducing Actuators in Soft Continuum Robots and Manipulators |
| title_full_unstemmed | Reducing Actuators in Soft Continuum Robots and Manipulators |
| title_short | Reducing Actuators in Soft Continuum Robots and Manipulators |
| title_sort | reducing actuators in soft continuum robots and manipulators |
| topic | T Technology (General) |
| url | http://eprints.uthm.edu.my/10538/1/J16249_02beddd850d713bcf4781bb3e261b77b.pdf http://eprints.uthm.edu.my/10538/ https://doi.org/10.3390/app13010462 |
| url_provider | http://eprints.uthm.edu.my/ |