A multi-segment soft fluidic elastomer robot in three dimensions which is designed to be modular and can move around all the space is presented. The design of the pneumatically actuated silicone module, resembling soft tissue, with three pneumatic chambers is considered and optimized. The design optimization of the silicone module is based on finite element analysis (FEA). The materials used to make the module and design parameters such as the shape of the pneumatic channel cross-section, the ratio of channel length to module length, the distance of channel from the module wall and the ratio of the channel to module cross-section are analyzed. From the FEA analysis, the structure of the silicone module can be optimized:the research choose the pneumatic chambers of semicircular cross section, when need to gain higher pressure, else can choose the pneumatic chambers of ring cross-section indeed. According to the results of the simulative optimization, soft actuator that achieves great flexibility and ability to carry objects with low pressure is fabricated. Then, to get the idea how the multi-segment soft fluidic elastomer robot in three dimensions works, a series of kinematics experiments and mechanics experiments are set up, including the bending range test, the stiffness changing test and the generated force test. Last but not least, a bio-inspired soft arm is defined, which is connected by three single arm segments and can easily conduct the movement and grasping motion in three-dimensional space.
XIE Zhexin
,
GONG Zheyuan
,
WANG Tianmiao
,
WEN Li
. Simulation and Experiments of a Controllable Soft Spatial Fluidic Elastomer Manipulator[J]. Journal of Mechanical Engineering, 2018
, 54(21)
: 11
-18
.
DOI: 10.3901/JME.2018.21.011
[1] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构、驱动、传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbang,et al. Soft robotics:Structure,actuation,sensing and control[J]. Journal of Mechanical Engineering,2017,53(13):1-13.
[2] GRZESIAK A,BECKER R,VERL A. The bionic handling assistant:A success story of additive manufacturing[J]. Assembly Automation,2011,31(4):329-333.
[3] WANG Yueping,YANG Xingbang,CHEN Yufeng,et al. A biorobotic adhesive disc for underwater hitchhiking inspired by the remora suckerfish[J]. Science Robotics,2017,2(10):eaan8072.
[4] WEN Li,WEAVER J C,LAUDER G V. Biomimetic shark skin:Design,fabrication and hydrodynamic function[J]. Journal of Experimental Biology,2014,217(10):1656-1666.
[5] WEN Li,WEAVER J C,THORNYCROFT P J M,et al. Hydrodynamic function of biomimetic shark skin:Effect of denticle pattern and spacing[J]. Bioinspiration & Biomimetics,2015,10(6):066010.
[6] HAO Yufei,WANG Tianmiao,REN Ziyu,et al. Modeling and experiments of a soft robotic gripper in amphibious environments[J]. International Journal of Advanced Robotic Systems,2017,14(3):1729881417707148.
[7] DING J,GOLDMAN R E,XU K,et al. Design and coordination kinematics of an insertable robotic effectors platform for single-port access surgery[J]. IEEE/ASME Trans. Mechatron.,2013,18:1612-1624.
[8] NEUZIL P,CERNY S,KRALOVEC S,et al. Single-site access robot-assisted epicardial mapping with a snake robot:Preparation and first clinical experience[J]. Journal of Robotic Surgery,2013,7(2):103-111.
[9] WALKER I D. Some issues in creating invertebrate robots[C]//Proceedings of the International Symposium on Adaptive Motion of Animals and Machines,August 8-12,2000,Montreal,Canada. 2000:1.
[10] CALISTI M,GIORELLI M,LEVY G,et al. An octopus-bioinspired solution to movement and manipulation for soft robots[J]. Bioinspiration & Biomimetics,2011,6(3):036002.
[11] LASCHI C,CIANCHETTI M,MAZZOLAI B,et al. Soft robot arm inspired by the octopus[J]. Advanced Robotics,2012,26(7):709-727.
[12] LASCHI C,MAZZOLAI B,MATTOLI V,et al. Design of a biomimetic robotic octopus arm[J]. Bioinspiration & Biomimetics,2009,4(1):015006.
[13] CIANCHETTI M,ARIENTI A,FOLLADOR M,et al. Design concept and validation of a robotic arm inspired by the octopus[J]. Materials Science and Engineering:C,2011,31(6):1230-1239.
[14] FOLLADOR M,CIANCHETTI M,ARIENTI A,et al. A general method for the design and fabrication of shape memory alloy active spring actuators[J]. Smart Materials and Structures,2012,21(11):115029.
[15] CIANCHETTI M,FOLLADOR M,MAZZOLAI B,et al. Design and development of a soft robotic octopus arm exploiting embodied intelligence[C]//Robotics and Automation (ICRA),2012 IEEE International Conference on. IEEE,2012:5271-5276.
[16] MCMAHAN W,CHITRAKARAN V,CSENCSITS M,et al. Field trials and testing of the OctArm continuum manipulator[C]//Robotics and Automation,2006. ICRA 2006. Proceedings 2006 IEEE International Conference on IEEE,2006:2336-2341.
[17] Festo Corporate,Inc. Bionic Handling Assistant[EB/OL].[2010-03]. https://www.festo.com/group/en/cms/10241.htm.
[18] MOSADEGH B,POLYGERINOS P,KEPLINGER C,et al. Pneumatic networks for soft robotics that actuate rapidly[J]. Advanced Functional Materials,2014,24(15):2163-2170.
[19] GONG Zheyuan,XIE Zhexin,YANG Xinbang,et al. Design,fabrication and kinematic modeling of a 3D-motion soft robotic arm[C]//Robotics and Biomimetics (ROBIO),2016 IEEE International Conference on. IEEE,2016:509-514.
[20] HOEG H D,SLATKIN A B,BURDICK J W,et al. Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope[C]//Robotics and Automation,2000. Proceedings. ICRA'00. IEEE International Conference on. IEEE,2000:1599-1606.
