Development of Two-link Manipulator Equipped with Biarticular Muscle Mechanism Using Flexible Actuator

Abstract

In this paper, a novel mechanism and a controller for two-link manipulators with two monoarticular muscle mechanisms and one biarticular muscle mechanism are proposed. The monoarticular and biarticular muscle mechanisms are actuated by eight flexible actuators that consist of one linear motor and one thrust wire. The validity of the mechanism and controller is confirmed by experiments.