Design Optimization of Soft Robots [From the Guest Editors]

Soft crawling robots (SCRs) are the kind of robots that use soft and flexible material for motion. These soft robots capable to sustain huge distortions with vast degree-of-freedom which makes them more suitable to be employed in unstructured location compared to the conventional rigid robots. Unlike soft robotics, the conventional rigid robots are capable to be employed in situations where precision is required. However, soft robots are preferable in tight spaces such as in medical surgery and earthquake search and rescue operations due to its flexibility and adaptability capability. In this research, two types of soft robots were design using i.e.: (a) inchworm design and (b) quadrupedal design. The similarities between the inchworm and quadrupedal design are both use pressure input for motion. The SCRs also bend by using the expansion of chambers at their body. Both designs have the same length fixed at 86mm, but with different topology. The design optimization for maximum bending motion with respect to input pressure were evaluated using Finite Element Method (FEM) via Abaqus software, where the results shows that the highest bending was observed for the inchworm design. The maximum bending value (extension) of 130.4 mm was obtained with the optimized parameters set at 4mm base thickness, 5mm chamber gap, and 2mm width for the air chamber, respectively.

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Design and Control of Foam Hands for Dexterous Manipulation

International Journal of Humanoid Robotics ◽

10.1142/s0219843619500336 ◽

2020 ◽

Vol 17 (01) ◽

pp. 1950033

Author(s):

Dominik Bauer ◽

Cornelia Bauer ◽

Jonathan P. King ◽

Daniele Moro ◽

Kai-Hung Chang ◽

...

Keyword(s):

Design Optimization ◽

Robot Design ◽

Soft Robot ◽

Dexterous Manipulation ◽

Soft Robots ◽

Manufacturing Control ◽

Great Progress ◽

Robot Hands ◽

High Competence ◽

And Control

There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.

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Design Optimization of Soft Robots: A Review of the State of the Art

IEEE Robotics & Automation Magazine ◽

10.1109/mra.2020.3024280 ◽

2020 ◽

Vol 27 (4) ◽

pp. 27-43

Author(s):

Feifei Chen ◽

Michael Yu Wang

Keyword(s):

Design Optimization ◽

State Of The Art ◽

The State ◽

Soft Robots

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Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

Actuators ◽

10.3390/act8030063 ◽

2019 ◽

Vol 8 (3) ◽

pp. 63 ◽

Cited By ~ 1

Author(s):

Dorin Copaci ◽

Dolores Blanco ◽

Luis E. Moreno

Keyword(s):

Shape Memory Alloy ◽

Thermal Behavior ◽

Shape Memory ◽

Design Optimization ◽

Mechanical Design ◽

Point Of View ◽

Soft Robots ◽

Sma Actuators ◽

Robotic Applications

New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.

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