Frontiers of Mechanical Engineering
Analysis of actuating mechanics
characteristics for a flexible miniature robot system
1.College of Optoelectric & Electric Information Engineering, University of Shanghai for Science and Technology; 2.Lab 820, School of Electric Information and Electrical Engineering, Shanghai Jiaotong University;
Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.