Development of a Novel 3-Universal-Spherical-Revolote Soft Parallel Robot

Cecil Abidoye, Devin Grace, Andrea Contreras-Esquen, Aden Edwards, T. Ashuri, A. Tekes, Amir Ali Amiri Moghadam
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Abstract

Soft parallel robots are among the latest advancements in the field of soft robotics with wide range of applications. Most of the existing soft robotic systems comprise from serial soft arms which can provide high degrees of freedom (DOF), but suffer from low stiffness, and limited payload due to their soft structure. To address these issues recently researchers have introduced soft parallel robots. Similar to their rigid counterparts, soft parallel robot will have higher blocking force, stiffness, and accuracy. We have previously introduced two, and three DOF soft parallel robots and in the current work we will introduce a novel six DOF robot named 3-universal-spherical-revolute (3USR) soft parallel robot. This robotic system is consisted of three closed-loop kinematic chains. Each chain includes a soft active arm with two DOF which is connected to a compliant passive link through soft joints. This configuration provides six DOF for the soft robot (x, y, z, roll, pitch, yaw). The prototype of the robot is 3D printed using NINJA flex, thermoplastic polyurethane (TPU), and polylactic acid (PLA). Each soft active arm consists of a two DOF tendon driven soft actuator which is 3D printed using NINJA flex and are actuated using two servo motors. Two types of soft joints are used namely soft spherical and revolute joints. The shape and size of the soft joints are optimized so that the robot will achieve six DOF. MATLAB Simscape model is used to simulate the dynamical response of the mechanism for various inputs.
软并联机器人是软机器人领域的最新进展之一,具有广泛的应用前景。现有的大多数软机器人系统都是由一系列的软臂组成的,它们可以提供高自由度(DOF),但由于它们的软结构,它们的刚度低,有效载荷有限。为了解决这些问题,研究人员最近引入了软并联机器人。与刚性并联机器人相比,柔性并联机器人具有更高的阻挡力、刚度和精度。我们之前已经介绍了二自由度和三自由度软并联机器人,在目前的工作中,我们将介绍一种新型的六自由度机器人-三向球转(3USR)软并联机器人。该机器人系统由三个闭环运动链组成。每条链包括一个具有两个自由度的软主动臂,该软主动臂通过软关节连接到一个柔性被动连杆上。这种配置为软机器人提供了6个自由度(x, y, z,滚转,俯仰,偏航)。机器人的原型是使用NINJA flex、热塑性聚氨酯(TPU)和聚乳酸(PLA)进行3D打印的。每个软主动臂由两个自由度肌腱驱动的软致动器组成,该致动器是使用NINJA flex 3D打印的,并使用两个伺服电机驱动。采用两种类型的软关节,即软球形关节和旋转关节。对柔性关节的形状和尺寸进行了优化,使机器人达到六自由度。采用MATLAB Simscape模型对不同输入条件下机构的动态响应进行仿真。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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