Towards a Highly Integrated 3D Printed Soft Continuum Manipulator

被引：0

作者：

Salgueiro, Joao M. ^{[1
]}

Reis, Joao C. P. ^{[1
]}

机构：

[1] Univ Lisbon, Inst Super Tecn, IDMEC, Lisbon, Portugal

来源：

2021 7TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA 2021) | 2021年

关键词：

Soft Robot Materials and Design; Continuum Robots; Flexible Robotics; Domestic Robotics; Additive Manufacturing;

D O I：

10.1109/ICARA51699.2021.9376438

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Soft continuum robot manipulators are structurally compliant devices that aim to take advantage of this characteristic to facilitate interaction with the surrounding environment. However there is a delicate balance between structural compliance and the ability to perform useful mechanical work. Off-axis manipulation has been identified in literature as one of the challenges posed to these robots. In this paper the design and experimental evaluation of a soft continuum manipulator robot module, based on a soft wave spring structure, is addressed with the aim of studying and improving off-axis manipulation. Finite element simulation results are presented, that allow to optimize the design of the wave spring for a specific set of dimensional constraints. A working prototype is also described, and experimental results are presented regarding the evaluation of the structure in both in-axis and off-axis loading, and also for trajectory following under several load cases.

引用

页码：163 / 167

页数：5

共 11 条

[1]

Boccolato G., 2010, International Journal of Systems Applications, Engineering & Development, V4, P1

[2] Continuum Robots for Medical Applications: A Survey [J].

Burgner-Kahrs, Jessica ;

Rucker, D. Caleb ;

Choset, Howie .

IEEE TRANSACTIONS ON ROBOTICS, 2015, 31 (06) :1261-1280

[3]

Cooper T. G., 2008, U.S. Patent, Patent No. [7,320,700, 7320700]

[4] Continuum Robots for Manipulation Applications: A Survey [J].

Kolachalama, Srikanth ;

Lakshmanan, Sridhar .

JOURNAL OF ROBOTICS, 2020, 2020

[5]

Manti M, 2016, P IEEE RAS-EMBS INT, P833, DOI 10.1109/BIOROB.2016.7523731

[6] A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module [J].

Ranzani, Tommaso ;

Cianchetti, Matteo ;

Gerboni, Giada ;

De Falco, Iris ;

Menciassi, Arianna .

IEEE TRANSACTIONS ON ROBOTICS, 2016, 32 (01) :187-200

[7]

Robinson G, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P2849, DOI 10.1109/ROBOT.1999.774029

[8]

Rolf M, 2012, IEEE INT C INT ROBOT, P3440, DOI 10.1109/IROS.2012.6385596

[9]

Skorina E. H., 2020, ADV INTELL SYST-GER, V2

[10]

Walker ID, 2013, CONTINUOUS BACKBONE

← 1 2 →