Track: Mechatronics and Predictive Machinery Degradation

Abstract

Robotic systems are a combination of actuators and control systems for manipulating a tool or end effector along a specified path. Different types of actuators exist for different applications like bio mimicking, rehabilitation and prosthesis, and are classified based on their principle of actuation. These actuators include Serial Elastic Actuators, Shape Memory Alloys (SMA), Dielectric Elastomer Actuator (DEA), fluidic actuation etc. Various robotic systems have been developed with different actuators. SEA are conventional electric actuators are coupled with flexible elements. The main purpose is the introduction of compliance. Smart materials like SMA, Soft actuators like DEA and Flexible Elastomer Actuators using Fluidic actuation principles, pertaining to their actuation principles, can be used for biomimicking applications and their compliance nature due to their flexibility results in better shock absorbing and energy recovery capabilities. This paper presents a comprehensive literature survey relating to various actuators and their applications. A brief review of use of EMG and EEG as control systems is also presented in this article. Mathematical formulations have also been summarized in this article.