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Proceedings Paper

Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot
Author(s): Gianmarco Errico; Victor Fava; Ferruccio Resta; Francesco Ripamonti
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Paper 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.

Paper Details

Date Published: 2 April 2015
PDF: 9 pages
Proc. SPIE 9431, Active and Passive Smart Structures and Integrated Systems 2015, 94312V (2 April 2015); doi: 10.1117/12.2081361
Show Author Affiliations
Gianmarco Errico, Politecnico di Milano (Italy)
Victor Fava, Politecnico di Milano (Italy)
Ferruccio Resta, Politecnico di Milano (Italy)
Francesco Ripamonti, Politecnico di Milano (Italy)


Published in SPIE Proceedings Vol. 9431:
Active and Passive Smart Structures and Integrated Systems 2015
Wei-Hsin Liao, Editor(s)

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