Underactuator configuration and manipulating strategy of a novel flexible arm for precision sprinkler irrigation

Sprinkler irrigating equipment play a necessary role in modern agriculture. Their energy consumption and flexibility of manipulation are quite important to the user for their daily routine. An underactuator configuration of a novel robotic arm which has three bellows as a flexible arm for precision sprinkler irrigation were introduced. Multiple DoFs can be realized by using hydraulic theorem with a manipulating strategy of three solenoid valves and a hydraulic piston motor which provides the driven force. These combinations make multiple DoFs manipulation possible by using just one driven motor, which cuts the energy consumptions and equipment costs.