Implementation of electromagnetic actuation system on a continuum manipulator

• Main Authors: Ablola, Jose Mari C., Baguioro, Renz Paolo D.R., Enverga, Almond Aaron B., Epistola, Ernest Paolo D., Mendoza, Miguel Marco M.
• Format: text
• Language: English
• Published: Animo Repository 2010
• Subjects: Robotics; Robots > Control systems; Manipulators (Mechanism)
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/14670
• Institution: De La Salle University

The choice of actuators to be used in a robot has always been a matter of concern for robotic engineers. Electric motors require additional mechanical system in order to offer a flexible range of movement as actuators and rarely implemented as joints in robots. Hydraulic and Pneumatic pistons are bulky. This is commonly seen in many semiconductor factories which the robot repeatedly do pick and place tasks. To address these disadvantages, electromagnets are used for the actuators of joint robots such as Continuum Manipulator (CM). Voice Coil Actuator (VCA) can be the actuator that is suited for the Continuum Manipulator. The versatility, flexibility, power density, work space, range of motion and force exerted of the whole system must be tested.