Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

Gianmarco Errico; Victor Fava; Ferruccio Resta; Francesco Ripamonti

doi:10.1117/12.2081361

2 April 2015 Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

Gianmarco Errico, Victor Fava, Ferruccio Resta, Francesco Ripamonti

Proceedings Volume 9431, Active and Passive Smart Structures and Integrated Systems 2015; 94312V (2015) https://doi.org/10.1117/12.2081361
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2015, San Diego, California, United States

Abstract

This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

Citation Download Citation

Gianmarco Errico, Victor Fava, Ferruccio Resta, and Francesco Ripamonti "Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot", Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94312V (2 April 2015); https://doi.org/10.1117/12.2081361

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