Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

被引:8
作者
Garcia-Samartin, Jorge Francisco [1 ]
Rieker, Adrian [1 ]
Barrientos, Antonio [1 ]
机构
[1] Univ Politecn Madrid, Ctr Automat & Robot UPM CSIC, CSIC, Jose Gutierrez Abascal 2, Madrid 28006, Spain
关键词
soft actuator; pneumatics; soft robots materials and design; open-loop control; computer vision capture; DYNAMIC CONTROL; ROBOTS;
D O I
10.3390/act13010036
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.
引用
收藏
页数:28
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