Lightweight Pneumatically Elastic Backbone Structure with Modular Construction and Nonlinear Interaction for Soft Actuators.

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Soft Robotics Pub Date : 2024-02-01 Epub Date: 2023-08-25 DOI:10.1089/soro.2021.0179
Yang Yang, Jiewen Lai, Chaochao Xu, Zhiguo He, Pengcheng Jiao, Hongliang Ren
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引用次数: 0

Abstract

There has been a growing need for soft robots operating various force-sensitive tasks due to their environmental adaptability, satisfactory controllability, and nonlinear mobility unique from rigid robots. It is of desire to further study the system instability and strongly nonlinear interaction phenomenon that are the main influence factors to the actuations of lightweight soft actuators. In this study, we present a design principle on lightweight pneumatically elastic backbone structure (PEBS) with the modular construction for soft actuators, which contains a backbone printed as one piece and a common strip balloon. We build a prototype of a lightweight (<80 g) soft actuator, which can perform bending motions with satisfactory output forces (∼20 times self-weight). Experiments are conducted on the bending effects generated by interactions between the hyperelastic inner balloon and the elastic backbone. We investigated the nonlinear interaction and system instability experimentally, numerically, and parametrically. To overcome them, we further derived a theoretical nonlinear model and a numerical model. Satisfactory agreements are obtained between the numerical, theoretical, and experimental results. The accuracy of the numerical model is fully validated. Parametric studies are conducted on the backbone geometry and stiffness, balloon stiffness, thickness, and diameter. The accurate controllability, operation safety, modularization ability, and collaborative ability of the PEBS are validated by designing PEBS into a soft laryngoscope, a modularized PEBS library for a robotic arm, and a PEBS system that can operate remote surgery. The reported work provides a further applicability potential of soft robotics studies.

用于软执行器的模块化结构和非线性相互作用的轻质气动弹性骨架结构
由于软机器人具有环境适应性、令人满意的可控性以及不同于刚性机器人的非线性移动性,因此越来越需要软机器人来执行各种力敏任务。系统不稳定性和强烈的非线性相互作用现象是影响轻型软执行器执行任务的主要因素,我们希望进一步研究这些问题。在这项研究中,我们提出了一种轻型气动弹性骨架结构(PEBS)的设计原理,该结构采用模块化结构设计,适用于软促动器。我们制作了一个轻量级气动弹性骨架结构(PEBS)的原型。
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来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
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