Kinematics of an Intrinsic Continuum Robot with Pneumatic Artificial Muscles

공압인공근육을 가진 내부형 연속체로봇의 기구식

  • 강봉수 (한남대학교 기계공학과부)
  • Received : 2015.08.17
  • Accepted : 2015.11.27
  • Published : 2016.03.01


This study presents the kinematics of an intrinsic continuum robot actuated by pneumatic artificial muscles. The single section of a developed continuum robot consisted of three muscles in parallel. The contraction of each muscle according to applied air pressure produced spatial motions of a distal plate with respect to a base plate. Based on the bending behaviors of artificial muscles, the orientation and position of the end-effector of a continuum robot were formulated using a transformation matrix. The orientation and position was also determined for a single section of the distal plate. A Jacobian matrix relating the contraction rate or the pressure rate of the muscles to the velocity vector of the end-effector was calculated considering the assembled position of actuators between neighboring sections of the robot. Experimental results showed that the motions of the intrinsic continuum robot were accurately estimated by the proposed kinematics.


Continuum Robot;Pneumatic Artificial Muscle;Euler Angle;Jacobian


Supported by : 교육부, 한남대학교


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