Modeling and Experiments on the Swallowing and Disgorging Characteristics of an Underwater Continuum Manipulator
Haihang Wang,He Xu,Fengshu Yu,Xin Li,Chen Yang,Siqing Chen,Junlong Chen,Yonghui Zhang,Xueshan Zhou,Haihang Wang,He Xu,Fengshu Yu,Xin Li,Chen Yang,Siqing Chen,Junlong Chen,Yonghui Zhang,Xueshan Zhou
Soft robots apply compliant materials to perform motions and behaviors not typically achievable by rigid robots. An underwater, compliant, multi-segment continuum manipulator that can bend, swallow, disgorge is developed in this study. The manipulator is driven by McKibben water hydraulic artificial muscle (WHAM). The mechanical properties of the WHAM are tested and analyzed experimentally. The ki...
