Paper Titles

Passive Suspension of a Working Machine Horizontal Platform
p.3

Simulation Analysis of Pneumatic Rubber Bellows for Segment of Hyper-Redundant Robotic Mechanism
p.10

An Active Control of the Thin-Walled Mechanical Systems
p.22

Application of Karray-Bouc Hysteretic Model for Cumulative Damage Calculation Using Energy Fatigue Curve
p.32

Automatic Generation of Equations of Motion of Mechanical Systems
p.40

Calculations of Phase Transformations in Welding Simulations
p.46

Bending Tests and Simulations of GLT Beams
p.54

Control of a Robotic Arm on the Principle of Separate Decision of an Inertial Navigation System
p.60

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 611Simulation Analysis of Pneumatic Rubber Bellows...

Simulation Analysis of Pneumatic Rubber Bellows for Segment of Hyper-Redundant Robotic Mechanism

Article Preview

Abstract:

The paper deals with a design and simulations of segment for hyper-redundant manipulator. In the paper 6-DOF manipulator segment, which consists of pneumatic and electromagnetic actuators, is designed. CAD model of the segment is introduced and basic parts are described. The basic motion is reached by pneumatic actuator which works through the rubber bellows and it utilizes their expansion properties. Main focus of the study besides segment design is analysis of rubber bellows. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed.

You might also be interested in these eBooks

Applied Mechanics and Mechatronics

Info:

Periodical:

Applied Mechanics and Materials (Volume 611)

Pages:

10-21

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.611.10

Citation:

Cite this paper

Online since:

August 2014

Authors:

Erik Prada, Ivan Virgala, Grzegorz Granosik, Alexander Gmiterko, Štefan Mrkva

Keywords:

Bellows, Hyper-Redundant, Manipulator, Pneumatic Joint

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

[1] D. Koniar, L. Hargaš, M. Hrianka, V. Bobek, P. Drgoňa, P. Fibich, Kinematics analysis of biomechanical systems using image analysis, Metalurgija (Metallurgy), Vol. 49 (2/2010), ISSN 1334-2576.

[2] G. S. Chirikjian, J. W. Burdick, An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators, IEEE Transaction on Robotics and Automation (1990), p.625 – 631.

DOI: 10.1109/robot.1990.126052

[3] H. B. Brown, M. Schwerin, E. Shammas, H. Choset, Design and Control of a Second-Generation Hyper-Redundant Mechanism, IEEE International Conference on Intelligent Robots and Systems (2007), p.2603 – 2608.

DOI: 10.1109/iros.2007.4399504

[4] G. S. Chirikjian, J. W. Burdick, Parallel Formulation of the Inverse Kinematics of Modular Hyper-Redundant Manipulators, IEEE International Conference on Robotics and Automation (1991), 708 – 713.

DOI: 10.1109/robot.1991.131667

[5] J. Borenstein, G. Granosik, Integrated, Proportionally Controlled, and Naturally Compliant Universal Joint Actuator with Controllable Stifness, United States Patent (2005).

[6] G. Granosik, J. Borenstein, Integrated Joint Actuator for Serpentine Robots, IEEE/ASME Transaction on Mechatronics (2005), Vol. 10, No 5, p.473 – 481.

DOI: 10.1109/tmech.2005.856222

[7] R. Harťanský, V. Smieško, L. Maršálka, Numerical Analysis of Isotropy Electromagnetic Sensor Measurement Error, Measurement Science Review, Vol. 13, No. 6, pp.311-314, ISSN 335-8871.

DOI: 10.2478/msr-2013-0046

[8] D. Samek, J. Javorik. Numerical Analysis of Shape Stability of Rubber Boot, International Journal of Mechanics, Vol. 7, No. 3, pp.294-301, ISSN: 1998-4448.

[9] Oliver A. Shergold, Norman A. Fleck, D. Radford. The uniaxial stress versus strain response of pig skin and silicone rubber at low and high strain rates, International Journal of Impact Engineering (2006), Vol. 32, pp.1384-1402, ISSN: 0734-743X.

DOI: 10.1016/j.ijimpeng.2004.11.010

[10] I. Chowdhury, S. Dasgupta. Computation of Rayleigh Damping Coefficients for Large System, The Electronic Journal of Geotechnical Engineering (2003), Vol. 8, Bundle 8C.

[11] Wiliam W. Feng, John O. Hallquist. On Mooney-Rivlin Constants for Elastomers, 12. th. International LS-DYNA Users Conference, pp.1-10.

[12] Detailed vibration isolation theory. Farrat isolevel Ltd. (2014) online: http: /www. farrat. com.

[13] Richad Q. van der Linde. Design, Analysis, and Control of a Low Power Joint for Walking Robots, by Phasic Activation of McKibben Muscles, IEEE Transactions on Robotics and Automation (1999), Vol. 15, No. 4, pp.599-604, ISSN: 1042-296X.

DOI: 10.1109/70.781963

[14] Ruiyi Tang, Dikai Liu. An Enhanced Dynamic Model for McKibben Pneumatic Muscle Actuators, Proceedings of Australasian Conference on Robotics and Automation (2012), Victoria University of Wellington, New Zealand.

[15] V. Cech, M. Cervenka, The Manipulator of the Passive Optoelectronic Rangefinder as a Controlled System of servomechanisms, Mechatronics 2013 (Springer), p.17 – 24.

DOI: 10.1007/978-3-319-02294-9_3