Performance enhancement of the soft robotic segment for a trunk-like arm

Tang，Shaowu1,2; Tang，Kailuan1,3; Wu，Shijian2; Xiao，Yin2; Liu，Sicong2; Yi，Juan1,2; Wang，Zheng2

2023

10.3389/frobt.2023.1210217

Frontiers in Robotics and AI   影响因子和分区

2296-9144

2296-9144

Trunk-like continuum robots have wide applications in manipulation and locomotion. In particular, trunk-like soft arms exhibit high dexterity and adaptability very similar to the creatures of the natural world. However, owing to the continuum and soft bodies, their performance in payload and spatial movements is limited. In this paper, we investigate the influence of key design parameters on robotic performance. It is verified that a larger workspace, lateral stiffness, payload, and bending moment could be achieved with adjustments to soft materials’ hardness, the height of module segments, and arrayed radius of actuators. Especially, a 55% increase in arrayed radius would enhance the lateral stiffness by 25% and a bending moment by 55%. An 80% increase in segment height would enlarge 112% of the elongation range and 70 % of the bending range. Around 200% and 150% increments in the segment’s lateral stiffness and payload forces, respectively, could be obtained by tuning the hardness of soft materials. These relations enable the design customization of trunk-like soft arms, in which this tapering structure ensures stability via the stocky base for an impact reduction of 50% compared to that of the tip and ensures dexterity of the long tip for a relatively larger bending range of over 400% compared to that of the base. The complete methodology of the design concept, analytical models, simulation, and experiments is developed to offer comprehensive guidelines for trunk-like soft robotic design and enable high performance in robotic manipulation.

bending moment lateral stiffness modular origami soft arm workspace

ESCI

英语

第一 ; 通讯

NSFC["51975268","52105021"] ; Shenzhen Science, Tech. amp; Innovation Commission["ZDSYS20220527171403009","RCBS20210609104446099","JCYJ20220530114615034","JCYJ20220818100417038"] ; Guangdong Basic and Applied Basic Research Foundation[2021A1515110658]

Robotics

Robotics

WOS:001042426200001

FRONTIERS MEDIA SA

2-s2.0-85166562965

Scopus

1.Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Southern University of Science and Technology,Shenzhen,China
2.The Department of Mechanical and Energy Engineering,Southern University of Science and Technology,Shenzhen,China
3.School of Mechatronics Engineering,Harbin Institute of Technology,Harbin,China

Tang，Shaowu,Tang，Kailuan,Wu，Shijian,et al. Performance enhancement of the soft robotic segment for a trunk-like arm[J]. Frontiers in Robotics and AI,2023,10.

Tang，Shaowu.,Tang，Kailuan.,Wu，Shijian.,Xiao，Yin.,Liu，Sicong.,...&Wang，Zheng.(2023).Performance enhancement of the soft robotic segment for a trunk-like arm.Frontiers in Robotics and AI,10.

Tang，Shaowu,et al."Performance enhancement of the soft robotic segment for a trunk-like arm".Frontiers in Robotics and AI 10(2023).