Pneumatic flexible hollow shaft actuator with high speed and long stroke motion

Kazuhito Wakana, Hiroaki Namari, Masashi Konyo, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

A novel flexible pneumatic linear actuator is proposed in this paper. The proposed actuator realizes high-speed reciprocating motion by the moving part which has multiple rollers moves smoothly along the flexible hollow shaft. An effective application of this actuator is its use in endoscope robots and tether robots because cables of cameras or sensors can be passed inside the actuator by using the hollow structure. First, we discuss the physical model of the actuator pressurized in the resting state, and we provide an analysis of the generated force of the actuator. The model relates the generated force to the relevant design parameters such as the applied pressure, the material of the pressure chamber, the size of the moving part, etc. Second, we describe the measurement experiment of the generated force, and we show the validity of our model by comparing the experimental results with the analysis results. Third, we present the motion evaluation using a prototype of the actuator. We found that the maximum velocity of the moving parts is 9 m/s and that the moving parts can move smoothly even if the actuator is curved. Finally, we present the drive mechanism that uses the actuator, as an application example.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages357-363
Number of pages7
DOIs
Publication statusPublished - 2013 Nov 14
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 2013 May 62013 May 10

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period13/5/613/5/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Wakana, K., Namari, H., Konyo, M., & Tadokoro, S. (2013). Pneumatic flexible hollow shaft actuator with high speed and long stroke motion. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 357-363). [6630600] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630600