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International Conference on Intelligent Robotics and Applications

ICIRA 2014: Intelligent Robotics and Applications pp 288–299Cite as

ET Arm: Highly Compliant Elephant-Trunk Continuum Manipulator

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8917))

Abstract

This paper proposes a novel elephant-trunk continuum manipulator, called ET Arm. ET Arm is composed of 2 muscle segments. Each of the muscle segments is composed of elastic skeletons, an artificial skin and 3 artificial muscles. In one muscle, a motor mounted to a base is connected to a flexible rod, and the end of the rod is connected to an end disk by screw driving. When one motor rotates, the distance from the base to the end disk will change, the arm bends. The experimental results show that ET Arm is valid and it can bend to any point in its workspace, which is useful for many applications.

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Author information

Authors and Affiliations

  1. Dept. of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Yunfang Yang & Wenzeng Zhang

  2. State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, China

    Wenzeng Zhang

Authors
  1. Yunfang Yang
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  2. Wenzeng Zhang
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Editor information

Editors and Affiliations

  1. School of Mechanical and Automobile Engineering, South China University of Technology, Wushan Rd. 381, Tianhe District, 510641, Guangzhou, China

    Xianmin Zhang , Zhong Chen  & Nianfeng Wang ,  & 

  2. Group of Intelligent System and Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

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© 2014 Springer International Publishing Switzerland

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Cite this paper

Yang, Y., Zhang, W. (2014). ET Arm: Highly Compliant Elephant-Trunk Continuum Manipulator. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8917. Springer, Cham. https://doi.org/10.1007/978-3-319-13966-1_29

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  • DOI: https://doi.org/10.1007/978-3-319-13966-1_29

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-13965-4

  • Online ISBN: 978-3-319-13966-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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