抄録
The use of micro fiber for the transmission of the forces and the movements in robotic micro arms has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, reliability, simplicity in the mechanic design and flexibility with many DOF. This paper proposes a novel flexible micro arm that uses BioMetal Fiber (BMF) actuator. The BMF has very high durability and exhibits stable operating characteristics. It is being thin but capable of producing a powerful force. This platform can enable new medical devices for a capsule robot and for minimally invasive surgeries. Although, the flexible micro arm has multi-links, it can simplify many links as a partial curve. This paper presents kinematics of the flexible micro arm and experiment of bending property.
