A Model of Multi-DOF Microrobot Manipulator Using Artificial Muscle
نویسندگان
چکیده
In this paper, we described a new type of multi-DOF manipulator using a structure with three artificial muscle (IPMC) segments. We develop the kinematic modeling of multilink motions for the control of the manipulator using a transposed Jacobian or an inverse Jacobian using as sensors elements of motions was realized by IPMC film too, because was used the special actuator-sensor segment (IPMC films are separated electrically by cutting grooves and both the sensor and the actuator can be unified in the same structure). The paper contain simulation results of this model.
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تاریخ انتشار 2008