ROBOTIC MANIPULATORS BASED ON INFLATABLE STRUCTURES

This paper deals with a new kind of mechanical structure for the robot ic arm based on elements made of thin, inflatable shells. This approac h offers an increase of the payload-to-weight ratio of the robot. More over, it allows compact packaging and easier robot deployment, which i s critical in hard-to-reach spaces and where volume and weight are of utmost importance. An inflatable link was constructed and tested stati cally and dynamically as part of the robot structure. To overcome the flexibility effects, an end-point sensor was installed that enables cl osing the control loop on the tip location. Path tracking performances of the experimental system, which consists of a SCARA type robot arm with an inflatable forearm, an end-effector position sensor and a digi tal controller, are presented.