Design of a Modular Arm Robot System based on Flexible Fluidic Drive Elements

摘要

In this paper the design, construction, technical characteristics, functionality and control scheme of a new modular hand-arm robot system are presented. This system is designed for applications in robotic and rehabilitation medicine. The development of novel, compact modules is based on flexible fluidic actuators which are equipped with measurement and control elements for a robust control and, hence, precise positioning of the modules. Modules with pneumatic flexible driving elements are characterized by a mechanical modularity that allows for various types of robot kinematics and in particular for lightweight and low-cost concepts. Using the module, medium-sized enterprises will be able to rapidly and reliably adapt this system to various working environments and tasks and develop innovative robot systems for new and existing markets.