{"title":"Design and experiment of a variable stiffness soft manipulator for non-destructive grasping","authors":"","doi":"10.1007/s41315-024-00320-7","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>With the advantages of high flexibility, high safety, and good adhesion and wrapping, soft robots have a wide range of application prospects in complex environments such as automatic production lines and medical surgery. By coupling an active pneumatic drive structure and an interference variable stiffness mechanism, this paper designs a soft robot based on a variable stiffness pneumatic actuator. Based on kinematic analysis and finite element simulation based on the segmented constant curvature method, the Lagrange equations are applied to perform dynamic analysis, which in turn verifies the variable stiffness performance and bending performance of the variable-stiffness soft robotic arm. The soft manipulator adopts the structural design based on 2 mm thickness, jamming mechanism and coupling fiber layer, which can effectively resist 0–2.5 N force without large deviation and be adjustable in the stiffness range of (0.025–0.12) N/mm, under the condition that the vacuum degree does not exceed 80 kPa. The stiff stiffness and bending behavior of the proposed soft manipulator show excellent performance and can be applied to industrial automation, medical devices and other operations.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00320-7","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
With the advantages of high flexibility, high safety, and good adhesion and wrapping, soft robots have a wide range of application prospects in complex environments such as automatic production lines and medical surgery. By coupling an active pneumatic drive structure and an interference variable stiffness mechanism, this paper designs a soft robot based on a variable stiffness pneumatic actuator. Based on kinematic analysis and finite element simulation based on the segmented constant curvature method, the Lagrange equations are applied to perform dynamic analysis, which in turn verifies the variable stiffness performance and bending performance of the variable-stiffness soft robotic arm. The soft manipulator adopts the structural design based on 2 mm thickness, jamming mechanism and coupling fiber layer, which can effectively resist 0–2.5 N force without large deviation and be adjustable in the stiffness range of (0.025–0.12) N/mm, under the condition that the vacuum degree does not exceed 80 kPa. The stiff stiffness and bending behavior of the proposed soft manipulator show excellent performance and can be applied to industrial automation, medical devices and other operations.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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