#  Actuator and platform testing 

 



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Along with the fabrication phase, the performance of the pneumatic actuators was tested, as well as the real behavior of the "Stewart platform"-like section of the manipulator.

The initial test conducted on a 5cm long actuator showed that a maximum extension of 47% (2.35cm) could be obtained when a pressure of 0.3 bars is applied. If the cavity pressure increases further, the actuator deforms radially. It is then important to operate the actuator inside the pressure range of 0 – 0.3 bars.



 

A preliminary test of the real behavior of the pneumatic based Stewart platform was conducted. This test was done without the cable actuators.



 

### Bibliography

Robinson et al. (1999) [Continuum robots-a state of the art](/publications/continuum-robots-state-art?admin_panel=1)

Walker et al. (2013) [Continuous backbone “continuum” robot manipulators](/publications/continuous-backbone-%E2%80%9Ccontinuum%E2%80%9D-robot-manipulators?admin_panel=1)

McMahan et al. (2005) [Design and implementation of a multi-section continuum robot: Air-Octor](/publications/design-and-implementation-multi-section-continuum-robot-air-octor?admin_panel=1)

Neppalli et al. (2007) [Design, construction, and analysis of a continuum robot](/publications/design-construction-and-analysis-continuum-robot?admin_panel=1)

Bosman et al. (2015) [Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras](/publications/domain-decomposition-approach-fem-quasistatic-modeling-and-control?admin_panel=1)

Duriez, et al. (2008) [Contact skinning](/publications/contact-skinning?admin_panel=1)

Duriez et al. (2013) [Control of elastic soft robots based on real-time finite element method](/publications/control-elastic-soft-robots-based-real-time-finite-element-method?admin_panel=1)

### Contributors

Thor Bieze

Frédérick Largillière

Sandra Hage Chehade

Mario Sanz Lopez

Christian Duriez