Design of hybrid robot arm with 4-bar linkage joint using soft electrohydraulic actuator

초록

This study proposes a linkage-joint-based artificial arm that integrates soft electrohydraulic actuators with a rigid linkage mechanism to amplify angular motion. The soft electrohydraulic actuators have limited linear displacement. Herein, the linkage-joint converts the limited linear displacement of electrohydraulic actuators into large rotational motion. The maximum flexion angle of 103 degrees is achieved, approximately eight times greater than the system without the linkage mechanism. Interestingly, the hybrid actuator configuration improves cyclic stability and hysteresis behavior. We conduct a series of experiments to investigate the effects of various design and input parameters on motion and force performance. These results demonstrate the potential of hybrid soft-rigid actuation systems for robotic applications.

키워드