Forward kinematic model for continuum robotic surfaces

Merino, Jessica; Threatt, Anthony L.; Walker, Ian D.; Green, Keith E.

doi:10.1109/iros.2012.6386035

Cited by 15 publications

(6 citation statements)

References 20 publications

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“…Continuum robots have been deployed recently as "active hoses" for ship-to-shore refueling [118]. Extension to continuum robot surfaces, with application to rehabilitation therapy for poststroke patients, has been proposed [119].…”

Section: Ongoing Researchmentioning

confidence: 99%

Continuous Backbone “Continuum” Robot Manipulators

2013

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This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

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Section: Ongoing Researchmentioning

confidence: 99%

Continuous Backbone “Continuum” Robot Manipulators

2013

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“…Self-designing reconfigurable fixtures and tooling allow for a massive reduction in associated non-recurring costs and further contribute to the transformability of a production system. An extension of previous work on uncertainty-aware fixtur-ing (Bakker et al, 2009(Bakker et al, , 2017, this can be accomplished through a combination of automatic actuation and use of continuum surfaces matched to part morphology (Merino et al, 2012).…”

Section: Context-aware Robotic Automationmentioning

confidence: 99%

Conceptual Framework for Ubiquitous Cyber-Physical Assembly Systems in Airframe Assembly

2018

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Current sectoral drivers for the manufacturing of complex products-such as airframe assembly-require new manufacturing system paradigms to meet them. In this paper, we propose a conceptual framework for cyber-physical systems driven by ubiquitous context-awareness by drawing together a unique and coherent vision that merges several extant concepts. This framework leverages recent progress in agent-based systems, flexible manufacturing, ubiquitous computing, and metrology-driven robotic assembly in the Evolvable Assembly Systems project. As such, although it is adapted for and grounded in manufacturing facilities for airframe assembly, it is not specifically tailored to that application and is a much more general framework. As well as outlining our conceptual framework, we also provide a vision for assembly grounded in a review of existing research in the area.

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“…And yet this model seems to hardly handle the SRS with larger deformations. Walker et al [34] established a forward kinematic model for the soft continuum surfaces, whereas the curvature values of muscles were determined via experiments. Consequently, a comprehensive model needs to be developed for describing the morphing of two-dimensional soft surfaces.…”

Section: Introductionmentioning

confidence: 99%

Modeling and analysis of soft robotic surfaces actuated by pneumatic network bending actuators

Xiao

Yang

et al. 2022

Smart Mater. Struct.

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Soft robots are a nascent field that aims to provide a safe interaction with humans and better adaptability to unstructured environments. Many tentacle-like one-dimensional soft robots that can mimic the basic motion in nature are developed owing to ease of design and fabrication. To expand the spectrum of soft robots, this paper gives a detailed introduction of a new type of sheet-like two-dimensional soft robot. This soft robot is called soft robotic surface (SRS), which is actuated by pneumatic network bending actuators. An analytical model of the SRS is constructed based on the minimum potential energy method, which considers both its geometry complexity and material nonlinearity. The comparisons among the analytical, experimental, and numerical results demonstrate that the analytical model can accurately predict the SRS deformation. The maximum root mean squared error for the surface morphing is 3.429 mm, which is less than 5% of the maximum displacement for the free end. The effects of the actuating pressure and structural parameter on the SRS deformation are also investigated. The results reveal that the deformation shape of the SRS can be reconfigured by controlling the applied pressure. And the bending angle of the two actuators both decreases with the increase of the width and thickness of the soft surface. The SRS extends the research on soft robots and the developed analytical model also solves the fundamental problem of how to programme the surface morphing of soft robot surfaces. Finally, we fabricate a soft gripper that can grasp object objects with different sizes, shapes, and stiffness, which demonstrates the application of the SRS.

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Forward kinematic model for continuum robotic surfaces

Cited by 15 publications

References 20 publications

Continuous Backbone “Continuum” Robot Manipulators

Continuous Backbone “Continuum” Robot Manipulators

Conceptual Framework for Ubiquitous Cyber-Physical Assembly Systems in Airframe Assembly

Modeling and analysis of soft robotic surfaces actuated by pneumatic network bending actuators

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