A Multi-Link Kinematics Model for Microrobots with Artificial Muscle Structure

Abstract

In this paper, we described a new multi-link kinematics type model for multi-DOF manipulators with artificial muscle (IPMC) segments structure. We develop the kinematic modeling of multilink motions for the control of the manipulator using a transposed Jacobian or an inverse Jacobian using as sensors elements of motions was realized by IPMC film too, because was used the special actuator-sensor segment (IPMC films are separated electrically by cutting grooves and both the sensor and the actuator can be unified in the same structure). The paper contains simulation results of this model.