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Frontiers of Mechanical Engineering >> 2008, Volume 3, Issue 1 doi: 10.1007/s11465-008-0006-5

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;

Available online:2008-03-05

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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.

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