Finite Element Analysis of Magnetorheological Elastomers for Stiffness Variation in Soft Robots

被引：4

作者：

Seyidoglu, Burcu ^{[1
]}

Atakuru, Taylan ^{[1
]}

Uyanik, Kubra ^{[2
]}

Samur, Evren ^{[1
]}

机构：

[1] Bogazici Univ, Dept Mech Engn, Istanbul, Turkey

[2] Middle East Tech Univ, Dept Mech Engn, Ankara, Turkey

来源：

2021 IEEE 4TH INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) | 2021年

关键词：

BEHAVIOR;

D O I：

10.1109/RoboSoft51838.2021.9479211

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Magnetorheological elastomers are one of the promising options for stiffness variation of soft robots due to their field-dependent behavior producing high stiffness change rapidly. In this study, we have developed a multiphysics finite element model to investigate this unique behavior with a possible application in soft robotics. Sample magnetorheological elastomers were produced, and an experimental setup was developed. Cantilever bending experiments were performed under varying external magnetic field to tune the model. Results show that the elastic modulus increases with increasing external magnetic field as well as dependency on the volume fraction. Additionally, a possible implementation of magnetorheological elastomers as a stiffening module for a soft continuum robot is discussed as well.

引用

页码：531 / 534

页数：4

共 25 条

[1] Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery [J].