Configurable Tendon Routing in a 3D-printed Soft Actuator for Improved Locomotion in a Multi-Legged Robot

2019 ◽  
Author(s):  
Jose Barreiros ◽  
Kevin W. O'Brien ◽  
Samantha Hong ◽  
Michael F. Xiao ◽  
Ho-Jung Yang ◽  
...  
Keyword(s):  
Legged Robot ◽  
Soft Actuator ◽  
3D Printed

Research and analysis of stiffness-enhanced soft gripper

2020 ◽  
pp. 1-8
Author(s):  
Hui Tian ◽  
Zhujun Zhang ◽  
Zhihua Yuan ◽  
Xiaochan Liu ◽  
Yuyan Qi ◽  
...  
Keyword(s):  
Soft Part ◽  
Optimization Method ◽  
Element Analysis ◽  
Bending Performance ◽  
Piecewise Constant ◽  
Soft Actuator ◽  
3D Printed ◽  
Large Balloon ◽  
Low Stiffness ◽  
Main Components

In view of the problems of low stiffness, small driving force and large balloon effect existing in the current soft actuator, this paper proposes an optimization method to enhance the overall stiffness of the soft gripper by using rigid components based on the multi-cavity soft pneumatic actuator. This paper introduces the main components of the actuator: the soft part poured by liquid silica gel, and the open rectangular rigid structures by 3D printed. The kinematics model of the finger is established based on the Piecewise Constant Curvature model(PCC). The bending performance of the enhanced stiffness gripper is verified by finite element analysis(FEA): the tip force of actuator increased with the increase of the number of rigid structures when the bending angle is constant. According to the and experimental data, the overall stiffness of soft gripper is increased by the rigid structure without affecting the flexibility of operation. And the maximum weight which can grasp is 3.4 times that of the traditional soft gripper, improved the grasping range of the soft gripper effectively.

Design of a Deformable Smart Tire Using Soft Actuator

2019 ◽  
Author(s):  
Vidya K. Nandikolla ◽  
Michael Costa ◽  
Nathan Boyd ◽  
Gilberto Rosales
Keyword(s):  
Force Feedback ◽  
Design Procedure ◽  
Nickel Titanium ◽  
Operating Conditions ◽  
Mechanical Modeling ◽  
Soft Actuator ◽  
Voltage Signal ◽  
3D Printed ◽  
Primary Focus ◽  
Soft Actuators

Abstract The unique functional properties of nickel-titanium Shape Memory Alloys (SMA) enable them to be used as actuators. This research paper demonstrates theoretically and experimentally the feasibility of using SMA in smart tires for a mobile robot. The design procedure for SMA as a coil spring actuator for a soft deformable wheel is described. The primary focus is the mechanical modeling, manufacturing, and system dynamics of a soft deformable wheel. The 3D printed soft tire exploits the capabilities of the SMA actuation using a voltage signal. The printed components are activated and integrated with electromechanical circuit for wireless communication system. The performance of the force feedback control system is evaluated at different operating conditions to demonstrate the shape-changing characteristic of the smart tire. The developed prototype is designed to propel forward and backward on flat and uneven surface. The experimental results obtained demonstrate the potential of SMA as soft actuators, its benefits and limitations as flexible systems.

scholarly journals Control-Oriented Modelling of a 3D-Printed Soft Actuator

Materials ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 71 ◽  
Author(s):  
Ali Zolfagharian ◽  
Akif Kaynak ◽  
Sui Yang Khoo ◽  
Jun Zhang ◽  
Saeid Nahavandi ◽  
...  
Keyword(s):  
3D Printing ◽  
Dynamic Models ◽  
Three Dimensional ◽  
Input Voltage ◽  
Soft Actuator ◽  
Voltage Variation ◽  
Sophisticated Model ◽  
3D Printed ◽  
Rc Circuit ◽  
Soft Actuators

A new type of soft actuator was developed by using hydrogel materials and three-dimensional (3D) printing technology, attracting the attention of researchers in the soft robotics field. Due to parametric uncertainties of such actuators, which originate in both a custom design nature of 3D printing as well as time and voltage variant characteristics of polyelectrolyte actuators, a sophisticated model to estimate their behaviour is required. This paper presents a practical modeling approach for the deflection of a 3D printed soft actuator. The suggested model is composed of electrical and mechanical dynamic models while the earlier version describes the actuator as a resistive-capacitive (RC) circuit. The latter model relates the ionic charges to the bending of an actuator. The experimental results were acquired to estimate the transfer function parameters of the developed model incorporating Takagi-Sugeno (T-S) fuzzy sets. The proposed model was successful in estimating the end-point trajectory of the actuator, especially in response to a broad range of input voltage variation. With some modifications in the electromechanical aspects of the model, the proposed modelling method can be used with other 3D printed soft actuators.

A Fabrication Free, 3D Printed, Multi-Material, Self-Sensing Soft Actuator

2020 ◽  
Vol 5 (3) ◽  
pp. 4118-4125
Author(s):  
Travis Hainsworth ◽  
Lawrence Smith ◽  
Sebastian Alexander ◽  
Robert MacCurdy
Keyword(s):  
Soft Actuator ◽  
3D Printed

Characterization of 3D printed pneumatic soft actuator

2021 ◽  
pp. 113337
Author(s):  
David Gonzalez ◽  
Jose Garcia ◽  
Richard M Voyles ◽  
Robert A Nawrocki ◽  
Brittany Newell
Keyword(s):  
Soft Actuator ◽  
3D Printed

Design of a Novel 3D-Printed Soft Actuator for Clenched Fist Rehabilitation

2021 ◽  
Author(s):  
M.G.I. Sandunika ◽  
P.N. Nanayakkara ◽  
M.V.C.J. Perera ◽  
K.D.S. Ranjana ◽  
Kanishka Madusanka ◽  
...  
Keyword(s):  
Soft Actuator ◽  
3D Printed

System identification and robust tracking of a 3D printed soft actuator

2019 ◽  
Vol 28 (7) ◽  
pp. 075025 ◽  
Author(s):  
Ali Zolfagharian ◽  
Akif Kaynak ◽  
Amin Noshadi ◽  
Abbas Z Kouzani
Keyword(s):  
System Identification ◽  
Robust Tracking ◽  
Soft Actuator ◽  
3D Printed

scholarly journals Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 117
Author(s):  
David Feller ◽  
Christian Siemers
Keyword(s):  
Degrees Of Freedom ◽  
Topological Analysis ◽  
Legged Robot ◽  
Spherical Parallel Mechanism ◽  
Cad Models ◽  
Central Support ◽  
3D Printed ◽  
Multi Body ◽  
Spherical Parallel Manipulator ◽  
Novel Design

In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the robot hip structure is proposed. The general design and conceptual ideas for the robot are presented, targeting a close match of the well-known SLIP-model. CAD models, 3d-printed prototypes, and proof-of-concept multi-body simulations are shown, investigating the feasibility to employ a geometrically dense spherical parallel manipulator with completely spherically shaped shell-type parts for the highly force-loaded application in the legged robot hip mechanism. Furthermore, in this study, an analytic expression is derived, yielding the calculation of stress forces acting inside the linkage structures, by directly constructing the manipulator hip Jacobian inside the force domain.

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