Super multi-joint manipulator by using creased plate and pneumatic actuators arranged antagonistically

Shunon Kikuchi, Yasuyuki Yamada, Ryoichi Higashi, Toshio Morita

Research output: Contribution to journalArticle


The new super multi-joint manipulator mechanismwe introduce in this paper is constructed froma long flexible resinous plate in the center of the manipulator and a pneumatic actuator the same length as the arm arranged antagonistically. The number of power transmission mechanism is fewer than that of joints. Specialized in a winding grip, the mechanism is light and simple. From the effect of this property, the manipulator could be easily extended in the length. The experimental mechanism mode was developed and several experiments were conducted, such as driving on the vertical plane, grasping some objects and moving with flow rate adjustment. As a result, the manipulator could drive on the vertical plane, winds cylinders of 50–200 mm in diameter and controls winding behavior.

Original languageEnglish
Pages (from-to)276-285
Number of pages10
JournalJournal of Robotics and Mechatronics
Issue number3
Publication statusPublished - 2015 Jul 27



  • Manipulation
  • Pneumatic actuator
  • Super multi-joint manipulator
  • Winding grasp

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science(all)

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