Design Optimization & Analysis of a Soft Crawling Robot

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 Optimization & Analysis Of Diffuser Used In Multistage Electrial Submersible Pump(Esp)

International Journal of Advance Engineering and Research Development ◽

10.21090/ijaerd.011238 ◽

2014 ◽

Vol 1 (12) ◽

Keyword(s):

Design Optimization ◽

Submersible Pump ◽

Optimization Analysis

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Self-excited air flow passage changing device for periodic pressurization of soft robot

ROBOMECH Journal ◽

10.1186/s40648-021-00207-3 ◽

2021 ◽

Vol 8 (1) ◽

Author(s):

Toshio Takayama ◽

Yusuke Sumi

Keyword(s):

Mobile Robot ◽

Rotational Motion ◽

Air Pressure ◽

Soft Robot ◽

Pressure Source ◽

Large Delay ◽

Soft Robots ◽

Flow Passage ◽

Output Pressure ◽

Air Chamber

AbstractRecently pneumatic-driven soft robots have been widely developed. Usually, the operating principle of this robot is the inflation and deflation of elastic inflatable chambers by air pressure. Some soft robots need rapid and periodic inflation and deflation of their air chambers to generate continuous motion such as progress motion or rotational motion. However, if the soft robot needs to operate far from the air pressure source, long air tubes are required to supply air pressure to its air chambers. As a result, there is a large delay in supplying air pressure to the air chamber, and the motion of the robot slows down. In this paper, we propose a compact device that changes its airflow passages by self-excited motion generated by a supply of continuous airflow. The diameter and the length of the device are 20 and 50 mm, respectively, and can be driven in a small pipe. Our proposed in-pipe mobile robot is connected to the device and can move in a small pipe by dragging the device into it. To apply the device widely to other soft robots, we also discuss a method of adjusting the output pressure and motion frequency.

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O Futuro de Soft Robotics: Uma Revisão Bibliográfica

10.5753/eri-mt.2019.8617 ◽

2019 ◽

Author(s):

Paulo Dos Santos ◽

Guilherme Da Silva ◽

Juliana Silva

Keyword(s):

Soft Robotics ◽

Review Of The Literature ◽

Soft Robots ◽

Medical Area ◽

The Future

This study seeks to explain a new theme that has a potential of great impact in the future. Soft robots are robots that, because they are soft and not limited by their axes, can go beyond how rigid robots work. The objective of this study is to present a review of the literature on soft robots. The literature shows little research on these robots, presenting difficulties mainly in the research of sensors and materials to be used in their construction. Despite the difficulties, the increase of research with this approach will have great impacts, mainly in the medical area.

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Design Optimization of Soft Robots [From the Guest Editors]

IEEE Robotics & Automation Magazine ◽

10.1109/mra.2020.3028658 ◽

2020 ◽

Vol 27 (4) ◽

pp. 10-11

Author(s):

Surya G. Nurzaman ◽

Liyu Wang ◽

Fumiya Iida ◽

Jeffrey Lipton ◽

Dario Floreano ◽

...

Keyword(s):

Design Optimization ◽

Soft Robots

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Multidisciplinary design optimization analysis of pin fins based on the Monte Carlo simulation

IOP Conference Series Materials Science and Engineering ◽

10.1088/1757-899x/770/1/012091 ◽

2020 ◽

Vol 770 ◽

pp. 012091

Author(s):

Z Y Zhao ◽

W B Hu ◽

J B Wang

Keyword(s):

Monte Carlo Simulation ◽

Monte Carlo ◽

Design Optimization ◽

Multidisciplinary Design Optimization ◽

Multidisciplinary Design ◽

Optimization Analysis ◽

Pin Fins

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Multidisciplinary Design Optimization: A New Way to Bring Softer Bows

Volume 2: Structures, Safety and Reliability ◽

10.1115/omae2008-57145 ◽

2008 ◽

Author(s):

Zhiqiang Hu ◽

Weicheng Cui ◽

Jianmin Yang

Keyword(s):

Design Optimization ◽

Multidisciplinary Design Optimization ◽

Optimization Method ◽

Collaborative Optimization ◽

Multidisciplinary Design ◽

Force Density ◽

Optimization Analysis ◽

Resistance Reduction ◽

Collision Force ◽

Bulbous Bow

It is well known that sharp bulbous bow has a good performance on ship resistance reduction, but it is also threatens the struck ships and the environment greatly. For their own economy profit, ship owners would like the bulbous bow to be designed sharp and rigid. However, from the viewpoint of environmental protection, the bulbous bow should be designed blunt and soft. Multidisciplinary Design Optimization (MDO) is a prosperous design concept and technique, to reconcile this problem effectively. The basic concept and theories of MDO are introduced in this paper. An optimization analysis is accomplished on the bulbous bow design for a container ship, using Collaborative Optimization Method. The characters of the bulbous bow on resistance reduction, collision force density and structural strength requirement are all considered at the same time. A compatible bulbous bow can be obtained by this way.

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Additive Manufacturing for Soft Robotics: Design and Fabrication of Airtight, Monolithic Bending PneuNets with Embedded Air Connectors

Micromachines ◽

10.3390/mi11050485 ◽

2020 ◽

Vol 11 (5) ◽

pp. 485 ◽

Cited By ~ 2

Author(s):

Gianni Stano ◽

Luca Arleo ◽

Gianluca Percoco

Keyword(s):

Additive Manufacturing ◽

Wall Thickness ◽

Chamber Wall ◽

Soft Robotics ◽

Soft Robot ◽

Soft Robots ◽

Bending Performance ◽

3D Print ◽

Air Tightness ◽

The Relationship

Air tightness is a challenging task for 3D-printed components, especially for fused filament fabrication (FFF), due to inherent issues, related to the layer-by-layer fabrication method. On the other hand, the capability of 3D print airtight cavities with complex shapes is very attractive for several emerging research fields, such as soft robotics. The present paper proposes a repeatable methodology to 3D print airtight soft actuators with embedded air connectors. The FFF process has been optimized to manufacture monolithic bending PneuNets (MBPs), an emerging class of soft robots. FFF has several advantages in soft robot fabrication: (i) it is a fully automated process which does not require manual tasks as for molding, (ii) it is one of the most ubiquitous and inexpensive (FFF 3D printers costs < $200) 3D-printing technologies, and (iii) more materials can be used in the same printing cycle which allows embedding of several elements in the soft robot body. Using commercial soft filaments and a dual-extruder 3D printer, at first, a novel air connector which can be easily embedded in each soft robot, made via FFF technology with a single printing cycle, has been fabricated and tested. This new embedded air connector (EAC) prevents air leaks at the interface between pneumatic pipe and soft robot and replaces the commercial air connections, often origin of leakages in soft robots. A subsequent experimental study using four different shapes of MBPs, each equipped with EAC, showed the way in which different design configurations can affect bending performance. By focusing on the best performing shape, among the tested ones, the authors studied the relationship between bending performance and air tightness, proving how the Design for Additive Manufacturing approach is essential for advanced applications involving FFF. In particular, the relationship between chamber wall thickness and printing parameters has been analyzed, the thickness of the walls has been studied from 1.6 to 1 mm while maintaining air tightness and improving the bending angle by 76.7% under a pressure of 4 bar. It emerged that the main printing parameter affecting chamber wall air tightness is the line width that, in conjunction with the wall thickness, can ensure air tightness of the soft actuator body.

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A review of 3D printing processes and materials for soft robotics

Rapid Prototyping Journal ◽

10.1108/rpj-11-2019-0302 ◽

2020 ◽

Vol 26 (8) ◽

pp. 1345-1361 ◽

Cited By ~ 1

Author(s):

Yee Ling Yap ◽

Swee Leong Sing ◽

Wai Yee Yeong

Keyword(s):

3D Printing ◽

Soft Robotics ◽

Soft Robots ◽

Content Type ◽

Advantages And Disadvantages ◽

The Future ◽

3D Printed ◽

Multiple Materials ◽

Printing Processes ◽

Printing Techniques

Purpose Soft robotics is currently a rapidly growing new field of robotics whereby the robots are fundamentally soft and elastically deformable. Fabrication of soft robots is currently challenging and highly time- and labor-intensive. Recent advancements in three-dimensional (3D) printing of soft materials and multi-materials have become the key to enable direct manufacturing of soft robots with sophisticated designs and functions. Hence, this paper aims to review the current 3D printing processes and materials for soft robotics applications, as well as the potentials of 3D printing technologies on 3D printed soft robotics. Design/methodology/approach The paper reviews the polymer 3D printing techniques and materials that have been used for the development of soft robotics. Current challenges to adopting 3D printing for soft robotics are also discussed. Next, the potentials of 3D printing technologies and the future outlooks of 3D printed soft robotics are presented. Findings This paper reviews five different 3D printing techniques and commonly used materials. The advantages and disadvantages of each technique for the soft robotic application are evaluated. The typical designs and geometries used by each technique are also summarized. There is an increasing trend of printing shape memory polymers, as well as multiple materials simultaneously using direct ink writing and material jetting techniques to produce robotics with varying stiffness values that range from intrinsically soft and highly compliant to rigid polymers. Although the recent work is done is still limited to experimentation and prototyping of 3D printed soft robotics, additive manufacturing could ultimately be used for the end-use and production of soft robotics. Originality/value The paper provides the current trend of how 3D printing techniques and materials are used particularly in the soft robotics application. The potentials of 3D printing technology on the soft robotic applications and the future outlooks of 3D printed soft robotics are also presented.

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