Details
| Original language | English |
|---|---|
| Pages (from-to) | 2774-2788 |
| Number of pages | 15 |
| Journal | ROBOTICA |
| Volume | 41 |
| Issue number | 9 |
| Early online date | 1 Jun 2023 |
| Publication status | Published - Sept 2023 |
Abstract
Bending and elongation have been some of the most studied motions in soft actuators due to the variety of their applications. For that matter, multi-DOF actuators have been developed with the purpose to generate different movements in a single actuator, mainly bending. However, these actuators are still limited in mobility range, and some of them do not perform continuous curvatures. This paper presents the design, characterisation and implementations of a multi-DOF soft pneumatic module. The internal structure of the proposed module is composed of four channels, which generate bending in several directions. The finite element method analysis demonstrates that the actuator performs continuous curvatures for different pressure values. We present a repeatable and easy manufacturing process using the casting technique, considering the material Ecoflex 00-50; as well as the kinematic model of the actuator, taking into consideration two bending Degrees of Freedom (DOFs). Furthermore, we performed bending characterisation for all possible combinations of the four channels via computer vision, demonstrating a wide mobility range and performing continuous curvatures. Additionally, we evaluated the kinematic model with characterisation data, obtaining the angular and cartesian relationship between the pressure and continuous curvatures. On the other hand, the authors propose the design of a modular soft manipulator based on two multi-DOF modules. The kinematic model is reported. In addition, we implement a motion sequence in the manipulator to pick and place tasks.
Keywords
- characterisation, Ecoflex-0050, kinematics, manipulation applications, multi-DOF soft pneumatic actuator, soft manipulation, wide range of mobility
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Engineering(all)
- Computational Mechanics
- Mathematics(all)
- Mathematics(all)
- Modelling and Simulation
- Medicine(all)
- Rehabilitation
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: ROBOTICA, Vol. 41, No. 9, 09.2023, p. 2774-2788.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design and characterisation of a multi-DOF soft pneumatic module
AU - Santacruz-Mondragon, Israel
AU - Sandoval-Castro, X. Yamile
AU - Ibrahim, Serhat
AU - Wiese, Mats
AU - Raatz, Annika
AU - Ruiz-Torres, Maximiano F.
AU - Castillo-Castaneda, Eduardo
PY - 2023/9
Y1 - 2023/9
N2 - Bending and elongation have been some of the most studied motions in soft actuators due to the variety of their applications. For that matter, multi-DOF actuators have been developed with the purpose to generate different movements in a single actuator, mainly bending. However, these actuators are still limited in mobility range, and some of them do not perform continuous curvatures. This paper presents the design, characterisation and implementations of a multi-DOF soft pneumatic module. The internal structure of the proposed module is composed of four channels, which generate bending in several directions. The finite element method analysis demonstrates that the actuator performs continuous curvatures for different pressure values. We present a repeatable and easy manufacturing process using the casting technique, considering the material Ecoflex 00-50; as well as the kinematic model of the actuator, taking into consideration two bending Degrees of Freedom (DOFs). Furthermore, we performed bending characterisation for all possible combinations of the four channels via computer vision, demonstrating a wide mobility range and performing continuous curvatures. Additionally, we evaluated the kinematic model with characterisation data, obtaining the angular and cartesian relationship between the pressure and continuous curvatures. On the other hand, the authors propose the design of a modular soft manipulator based on two multi-DOF modules. The kinematic model is reported. In addition, we implement a motion sequence in the manipulator to pick and place tasks.
AB - Bending and elongation have been some of the most studied motions in soft actuators due to the variety of their applications. For that matter, multi-DOF actuators have been developed with the purpose to generate different movements in a single actuator, mainly bending. However, these actuators are still limited in mobility range, and some of them do not perform continuous curvatures. This paper presents the design, characterisation and implementations of a multi-DOF soft pneumatic module. The internal structure of the proposed module is composed of four channels, which generate bending in several directions. The finite element method analysis demonstrates that the actuator performs continuous curvatures for different pressure values. We present a repeatable and easy manufacturing process using the casting technique, considering the material Ecoflex 00-50; as well as the kinematic model of the actuator, taking into consideration two bending Degrees of Freedom (DOFs). Furthermore, we performed bending characterisation for all possible combinations of the four channels via computer vision, demonstrating a wide mobility range and performing continuous curvatures. Additionally, we evaluated the kinematic model with characterisation data, obtaining the angular and cartesian relationship between the pressure and continuous curvatures. On the other hand, the authors propose the design of a modular soft manipulator based on two multi-DOF modules. The kinematic model is reported. In addition, we implement a motion sequence in the manipulator to pick and place tasks.
KW - characterisation
KW - Ecoflex-0050
KW - kinematics
KW - manipulation applications
KW - multi-DOF soft pneumatic actuator
KW - soft manipulation
KW - wide range of mobility
UR - http://www.scopus.com/inward/record.url?scp=85161850351&partnerID=8YFLogxK
U2 - 10.1017/S026357472300067X
DO - 10.1017/S026357472300067X
M3 - Article
AN - SCOPUS:85161850351
VL - 41
SP - 2774
EP - 2788
JO - ROBOTICA
JF - ROBOTICA
SN - 0263-5747
IS - 9
ER -