Robotic manipulators based on inflatable structures

This paper deals with a new kind of mechanical structure for the robotic arm based on elements made of thin, inflatable shells. This approach offers an increase of the payload-to-weight ratio of the robot. Moreover, it allows compact packaging and easier robot deployment, which is critical in hard-to-reach spaces and where volume and weight are of utmost importance. An inflatable link was constructed and tested statically and dynamically as part of the robot structure. To overcome the flexibility effects, an end-point sensor was installed that enables closing the control loop on the tip location. Path tracking performances of the experimental system, which consists of a SCARA type robot arm with an inflatable forearm, an end-effector position sensor and a digital controller, are presented.