Static analysis of novel continuum robot driven by PAMs

This paper proposed a novel continuum arm driven by three contractile pneumatic muscles and one extensive muscle. This arm has variable compliance capabilities and low inertia capabilities, which is suited to any field with robot/human interaction. Statics model is proposed, and under different load and position situations using MATLAB software simulation has been done. Simulation results show that inflation pressure of four PAMs is under the maximum pressure, curves are smooth, thus the structure design is feasible.

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